Consensus over Weighted Directed Graphs: A Robustness Perspective
Systems and Control
2016-09-02 v1
Abstract
The present paper investigates the robustness of the consensus protocol over weighted directed graphs using the Nyquist criterion. The limit to which a single weight can vary, while consensus among the agents can be achieved, is explicitly derived. It is shown that even with a negative weight on one of the edges, consensus may be achieved. The result obtained in this paper is applied to a directed acyclic graph and to the directed cycle graph. Graph theoretic interpretations of the limits are provided for the two cases. Simulations support the theoretical results.
Cite
@article{arxiv.1609.00283,
title = {Consensus over Weighted Directed Graphs: A Robustness Perspective},
author = {Dwaipayan Mukherjee and Daniel Zelazo},
journal= {arXiv preprint arXiv:1609.00283},
year = {2016}
}
Comments
8 pages, 7 figures