Distributed agreement in the presence of noise

Jing Wang, Nicola Elia

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

In this paper, we propose a distributed dynamic consensus scheme which exhibits noise resilient property. In our setup, each node is modeled as a simple integrator. We use frequency-domain analysis to establish that the output of each node tracks the (weighted) average of the inputs of all nodes with zero steady-state error and show that a certain kind of graph Laplacain (called feasible Laplacian) is necessary in our framework. The eigenvalue location of feasible Laplacians turns out to be an LMI region, which allows us to derive an LMI test condition. When the noise is present, we show that the output tracking error has a bounded covariance.

Original languageEnglish (US)
Title of host publication2009 47th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2009
Pages1575-1581
Number of pages7
DOIs
StatePublished - Dec 1 2009
Externally publishedYes
Event2009 47th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2009 - Monticello, IL, United States
Duration: Sep 30 2009Oct 2 2009

Publication series

Name2009 47th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2009

Other

Other2009 47th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2009
CountryUnited States
CityMonticello, IL
Period9/30/0910/2/09

Keywords

  • Consensus in the presence of noise
  • Distributed control
  • LMI region

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