Continuous-time consensus with discrete-time communication

Joao Almeida, Carlos Silvestre, Antonio M. Pascoal, Panos J. Antsaklis
2009 2009 European Control Conference (ECC)   unpublished
Consider a group of agents, each one having its one node variable, that seek to agree on a common value. The node variables are required to be continuous functions of time. The agents are allowed to exchange information among each other but only at specified update times. The topology of the underlying communication graph can change over time and the information received from other agents might be outdated. Our proposed solution includes an extra variable for each agent that is updated
more » ... is updated instantaneously at update times. Between update times, both variables, node and extra, evolve in a smooth manner. The stability analysis reduces to the study of a discretetime equivalent of the continuous-time system and the use of previously established discrete-time consensus results to prove convergence.
doi:10.23919/ecc.2009.7074493 fatcat:d3ecgc7uv5bkbcbj4mk7baq2bi