Consensus value estimates in time-varying and directed networks

Abstract

The paper provides consensus value estimates in multi-Agent systems with directed and time-varying interaction networks. First, we prove general results regarding the asymptotic consensus value which is obtained as a convex combination of the initial states. It is shown that the cutbalance assumption guarantees a strictly positive lower bound on the convex combination components. This means that each agent plays a non vanishing role in the asymptotic consensus value. Second, we analyze the case where interaction weights vary uniformly over time. Finally, we study the effect of time-vanishing perturbations on the systems with uniform variation of the interaction weights. We show that the conv..