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Abstract: The present paper is devoted to estimating the speed of convergence towardsconsensus for a general class of discrete-time multi-agent systems. In thesystems considered here, both the topology of the interconnection graph and theweight of the arcs are allowed to vary as a function of time. Under thehypothesis that some spanning tree structure is preserved along time, and thatsome nonzero minimal weight of the information transfer along this tree isguaranteed, an estimate of the contraction rate is given. The latter isexpressed explicitly as the spectral radius of some matrix depending upon thetree depth and the lower bounds on the weights.



Autor: David Angeli, Pierre-Alexandre Bliman

Fuente: https://arxiv.org/







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