Consensus over matrix-weighted networks with time-delays

Pham Tung Lam, Trinh Hoang Minh, Nguyen Minh Hieu, Chuong Nguyen, Tuynh Van Pham

Keywords: optimization and control theory; multi-agent systems; matrix-weighted networks; time-delays; network localization

TL;DR: Our paper provides consensus conditions for delayed leaderless and leader-follower matrix-weighted networks.

Abstract: This paper studies consensus conditions for leaderless and leader-follower matrix-weighted consensus networks under the presence of constant time-delays. Several delayed consensus algorithms for networks of single- and double-integrators using only the relative positions are considered. Conditions for the networks to asymptotically converge to a consensus or clustering configuration are derived based on direct eigenvalue evaluation or the Lyapunov-Krasovkii theorem. Furthermore, an application of these algorithms in bearing-based network localization is also considered. The theoretical results are supported by numerical simulations.

Primary Area: Optimization (convex and non-convex, discrete, stochastic, robust)

Submission Number: 1926