Stability and consensus for multi-agent systems with Poisson clock noise

Andrew Lamperski, Antonis Papachristodoulou

Research output: Contribution to journalConference articlepeer-review

2 Scopus citations


This paper is motivated by the problem of coordinating a group of autonomous agents with asynchronous, uncertain clocks. Timing uncertainty is commonly studied in networked control, but most work focuses on a single controller. Coordination problems also have a large literature, but the effect of uncertain, asynchronous timing is less understood. This paper studies multi-agent systems in which each agent has linear dynamics and a simple stochastic clock derived from a Poisson process. Necessary and sufficient conditions for stability are given based on linear matrix inequalities (LMIs). The analysis is then applied to networked control with random sampling times, as well as an asynchronous consensus protocol.

Original languageEnglish (US)
Article number7039854
Pages (from-to)3023-3028
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Issue numberFebruary
StatePublished - Jan 1 2014
Event2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States
Duration: Dec 15 2014Dec 17 2014


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