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Exponential Convergence of the Consensus Algorithm over a Shared Broadcast Channel

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Abstract

This article presents a particular class of consensus algorithms for multi-agent systems of continuous-time single integrators communicating over a shared broadcast channel. To deal with the problem of interference and packet collision, we consider a time-division multiple access (TDMA) protocol represented by a switching topology where only one agent can transmit at a time. A Lyapunov function is proposed to prove the exponential convergence of this class of consensus algorithms under mild assumptions. We also provide an explicit bound for the consensus errors that depends on the communication protocol parameters.
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Dates and versions

hal-03754160 , version 1 (19-08-2022)

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Adel Bechihi, Elena Panteley, Arnaud Bouttier. Exponential Convergence of the Consensus Algorithm over a Shared Broadcast Channel. 2021 60th IEEE Conference on Decision and Control (CDC), Dec 2021, Austin, United States. pp.1917-1922, ⟨10.1109/CDC45484.2021.9683116⟩. ⟨hal-03754160⟩
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