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Multiagent Consensus Over Time-Invariant and Time-Varying Signed Digraphs via Eventual Positivity
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-6367-6302
Key Laboratory of Systems and Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, China.ORCID iD: 0000-0001-7046-9478
Department of Control Science and Engineering, Tongji University, Shanghai, China.ORCID iD: 0000-0001-9505-8739
Australian Center for Field Robotics, School of Aerospace, Mechanical and Mechatronic Engineering, University of Sydney, Sydney, NSW, Australia.ORCID iD: 0000-0002-5929-9655
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2023 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 68, no 9, p. 5429-5444Article in journal (Refereed) Published
Abstract [en]

Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called “repelling” signed Laplacians, the marginal stability property (needed to achieve consensus) is not guaranteed a priori and, even when it holds, it does not automatically lead to consensus, as these signed Laplacians may lose rank even in strongly connected digraphs. Furthermore, in the time-varying case, instability can occur even when switching in a family of systems each of which corresponds to a marginally stable signed Laplacian with the correct corank. In this article, we present novel conditions for achieving consensus on signed digraphs based on the property of eventual positivity, a Perron–Frobenius (PF) type of property for signed matrices. The conditions we develop cover both time-invariant and time-varying cases. A particularly simple sufficient condition, valid in both cases, is that the Laplacians are normal matrices. Such condition can be relaxed in several ways. For instance, in the time-invariant case it is enough that the Laplacian has this PF property on the right side, but not on the left side (i.e., on the transpose). For the time-varying case, convergence to consensus can be guaranteed by the existence of a common Lyapunov function for all the signed Laplacians. All conditions can be easily extended to bipartite consensus.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2023. Vol. 68, no 9, p. 5429-5444
Keywords [en]
Consensus, multi-agent systems, network dynamics, signed graphs, time-varying systems
National Category
Electrical Engineering, Electronic Engineering, Information Engineering Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-208788DOI: 10.1109/tac.2022.3225472OAI: oai:DiVA.org:liu-208788DiVA, id: diva2:1908135
Funder
Swedish Research Council, 2020-03701Available from: 2024-10-24 Created: 2024-10-24 Last updated: 2024-10-25

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Fontan, AngelaAltafini, Claudio

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Fontan, AngelaWang, LingfeiHong, YiguangShi, GuodongAltafini, Claudio
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