Skip to Main content Skip to Navigation
Preprints, Working Papers, ...

Towards Intrinsic Almost Global Consensus on the n-Sphere

Abstract : This paper concerns the global level convergence properties of a continuous consensus protocol for multi-agent systems that evolve in continuous time on the n-sphere. The feedback is intrinsic to the n-sphere since it does not rely on the use of local coordinates obtained through a parametrization. It is shown that, for any connected undirected graph topology and all n ∈ N\{1}, the protocol yields convergence that is akin to almost global consensus in a weak sense. Simulation results suggest that almost global consensus hold. This results is of interest in the context of consensus on Riemannian manifolds since it differs from what is known with regard to 1-sphere and on SO(3) where more advanced intrinsic consensus protocols are required in order to generate equivalent results.
Document type :
Preprints, Working Papers, ...
Complete list of metadata

Cited literature [28 references]  Display  Hide  Download

https://hal.inria.fr/hal-01287631
Contributor : Johan Markdahl <>
Submitted on : Monday, March 14, 2016 - 2:12:15 AM
Last modification on : Wednesday, March 30, 2016 - 1:02:13 AM
Long-term archiving on: : Sunday, November 13, 2016 - 5:16:59 PM

File

root4.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-01287631, version 1

Collections

Citation

Johan Markdahl, Jorge Goncalves. Towards Intrinsic Almost Global Consensus on the n-Sphere. 2016. ⟨hal-01287631⟩

Share

Metrics

Record views

120

Files downloads

175