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arXiv · 2403.18200

Fault-tolerant properties of scale-free linear protocols for synchronization of homogeneous multi-agent systems

Anton A. Stoorvogel·Ali Saberi·Zhenwei Liu
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Abstract

Originally, protocols were designed for multi-agent systems (MAS) using information about the network which might not be available. Recently, there has been a focus on scale-free synchronization where the protocol is designed without any prior information about the network. As long as the network contains a directed spanning tree, a scale-free protocol guarantees that the network achieves synchronization. If there is no directed spanning tree then synchronization cannot be achieved. But what happens when these scale-free protocols are applied to such a network where the directed spanning tree no longer exists? This paper establishes that the network decomposes into a number of basic bicomponents which achieves synchronization among all nodes in this basic bicomponent. On the other hand, nodes which are not part of any basic bicomponent converge to a weighted average of the synchronized trajectories of the basic bicomponents. The weights are independent of the initial conditions and are independent of the designed protocol.

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Anton A. Stoorvogel, Ali Saberi, Zhenwei Liu. 2024-03-27. Fault-tolerant properties of scale-free linear protocols for synchronization of homogeneous multi-agent systems. https://arxiv.org/abs/2403.18200

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