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Transfer function representation of cyclic consensus systems
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DOI：10.1016/j.automatica.2011.05.019.png)
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Abstract
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This paper presents explicit forms of transfer functions for a class of cyclic consensus systems with different kinds of network topologies; directed, undirected and different numbers of reference agents. Each agent of consensus systems is assumed to satisfy a scalar integrator dynamics which is driven by a common consensus protocol and an independent exogenous input. It is shown that every single-input single-output (SISO) transfer function between the exogenous input of one agent and the state of another generally different agent, is always minimum phase. In addition, the poles and zeros, system degrees and relative degrees of those SISO transfer functions are specified. These results are interpreted in relation to the controllability and closed loop performance of a networked system with one leader agent. Furthermore, our transfer function representations are applied to an investigation of stability margins for a closed loop cyclic consensus system. (C) 2011 Elsevier Ltd. All rights reserved.
Keywords:
Cyclic consensus system
Transfer function
Controllability
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