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Optimal convergence speed with constrained damping of double-integrator multi-agent systems with undirected topology
Publikationstyp
Conference Paper
Date Issued
2015-02-08
Sprache
English
Author(s)
Institut
TORE-URI
Volume
54rd IEEE Conference on Decision and Control, CDC 2015
Start Page
2211
End Page
2216
Article Number
7402535
Citation
IEEE Conference on Decision & Control, CDC: 7402535 (2015-02-08)
Contribution to Conference
Publisher DOI
Scopus ID
This papers considers the design of consensus protocols for discrete-time double-integrator multi-agent systems. It provides solutions for the constrained min-max problem, that optimizes the consensus speed subject to a lower bound on damping. It is proven that the damping is determined by the second smallest and largest eigenvalue of the Laplacian of the communication topology only. It is shown that depending on the desired damping value, either analytic solutions for the parameters of the consensus protocol can be provided, or a combined bisection-grid search is required.