Stability of Open Multi-Agent Systems and Applications to Dynamic Consensus
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arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2019
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| _version_ | 1866929508351737856 |
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| author | Franceschelli, Mauro Frasca, Paolo |
| author_facet | Franceschelli, Mauro Frasca, Paolo |
| contents | In this technical note we consider a class of multi-agent network systems that we refer to as Open Multi-Agent Systems (OMAS): in these multi-agent systems, an indefinite number of agents may join or leave the network at any time. Focusing on discrete-time evolutions of scalar agents, we provide a novel theoretical framework to study the dynamical properties of OMAS: specifically, we propose a suitable notion of stability and derive sufficient conditions to ensure stability in this sense. These sufficient conditions regard the arrival/departure of an agent as a disturbance: consistently, they require the effect of arrivals/departures to be bounded (in a precise sense) and the OMAS to be contractive in the absence of arrivals/departures. In order to provide an example of application for this theory, we re-formulate the well-known Proportional Dynamic Consensus for Open Multi-Agent Systems and we characterize the stability properties of the resulting Open Proportional Dynamic Consensus algorithm. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_1906_00890 |
| institution | arXiv |
| publishDate | 2019 |
| record_format | arxiv |
| spellingShingle | Stability of Open Multi-Agent Systems and Applications to Dynamic Consensus Franceschelli, Mauro Frasca, Paolo Systems and Control In this technical note we consider a class of multi-agent network systems that we refer to as Open Multi-Agent Systems (OMAS): in these multi-agent systems, an indefinite number of agents may join or leave the network at any time. Focusing on discrete-time evolutions of scalar agents, we provide a novel theoretical framework to study the dynamical properties of OMAS: specifically, we propose a suitable notion of stability and derive sufficient conditions to ensure stability in this sense. These sufficient conditions regard the arrival/departure of an agent as a disturbance: consistently, they require the effect of arrivals/departures to be bounded (in a precise sense) and the OMAS to be contractive in the absence of arrivals/departures. In order to provide an example of application for this theory, we re-formulate the well-known Proportional Dynamic Consensus for Open Multi-Agent Systems and we characterize the stability properties of the resulting Open Proportional Dynamic Consensus algorithm. |
| title | Stability of Open Multi-Agent Systems and Applications to Dynamic Consensus |
| topic | Systems and Control |
| url | https://arxiv.org/abs/1906.00890 |