论文标题
通过最终阳性的时间不变和随时间变化的签名挖掘的多代理共识
Multi-agent consensus over time-invariant and time-varying signed digraphs via eventual positivity
论文作者
论文摘要
签名的挖掘物上的拉普拉斯动力学比非负挖掘的行为具有更丰富的行为。特别是,对于所谓的“排斥”签名的拉普拉斯人,边际稳定性(需要达成共识)不能保证先验,即使它成立,它也不会自动提出共识,因为这些签名的拉普拉克人也可能会失去的等级,即使在牢固地连接的挖掘中,也可能会失去共识。此外,在随着时间变化的情况下,即使在系统家族中切换每个系统时也会发生不稳定,每个系统都对应于具有正确的核心的边缘稳定的签名的laplacian。在本文中,我们提出条件,确保这些签名的拉普拉斯人的共识,该条件是根据最终阳性的财产,这是一种签名矩阵的perron-frobenius类型的财产类型。条件涵盖了时间不变和随时间变化的情况。在这两种情况下,有效的一个特别简单的足够条件是拉普拉斯人是正常的矩阵。这种情况可以通过多种方式放松。例如,在时间不变的情况下,Laplacian在右侧具有这种Perron-Frobenius属性,而不是在左侧(即在转置上)。对于随时间变化的情况,可以通过对所有签名的拉普拉斯人的共同的lyapunov函数来保证与共识的融合。所有条件都可以轻松地扩展到两部分共识。
Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called "repelling" signed Laplacians, the marginal stability property (needed to achieve consensus) is not guaranteed a priori and, even when it holds, it does not automatically lead to consensus, as these signed Laplacians may loose rank even in strongly connected digraphs. Furthermore, in the time-varying case, instability can occur even when switching in a family of systems each of which corresponds to a marginally stable signed Laplacian with the correct corank. In this paper we present conditions guaranteeing consensus of these signed Laplacians based on the property of eventual positivity, a Perron-Frobenius type of property for signed matrices. The conditions cover both time-invariant and time-varying cases. A particularly simple sufficient condition valid in both cases is that the Laplacians are normal matrices. Such condition can be relaxed in several ways. For instance in the time-invariant case it is enough that the Laplacian has this Perron-Frobenius property on the right but not on the left side (i.e., on the transpose). For the time-varying case, convergence to consensus can be guaranteed by the existence of a common Lyapunov function for all the signed Laplacians. All conditions can be easily extended to bipartite consensus.