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Second-order consensus protocols based on transformed d-path Laplacians
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DOI：10.1016/j.amc.2018.09.038.png)
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The Laplacian of a graph mathematically formalizes the interactions occurring between nodes/agents connected by a link. Its extension to account for the indirect peer influence through longer paths, weighted as a function of their length, is represented by the notion of transformed d-path Laplacians. In this paper, we propose a second-order consensus protocol based on these matrices and derive criteria for the stability of the error dynamics, which also consider the presence of a communication delay. We show that the new consensus protocol is stable in a wider region of the control gains, but admits a smaller maximum delay than the protocol based on the classical Laplacian. We show numerical examples to illustrate our theoretical results. (C) 2018 Elsevier Inc. All rights reserved.
Keyword:
Consensus
d-path Laplacians
Communication delay
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期刊
IF:
3.4
论文数:
2.3W
被引数:
3.3W
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