Argonne National Laboratory

Performance of Leader-Follower Multiagent Systems in Directed Networks

TitlePerformance of Leader-Follower Multiagent Systems in Directed Networks
Publication TypeReport
Year of Publication2016
AuthorsLin, F
Abstract

We consider the leader-follower multiagent systems in which the leader executes the desired trajectory and the followers implement the consensus algorithm subject to stochastic disturbances. The performance of the leader-follower systems is quantified by using the steady-state variance of the deviation of followers from the leader. We study the asymptotic scaling of the variance in directed lattices in 1, 2, and 3 dimensions. We show that in 1D and 2D the variance of the followers’ deviation increases to infinity as one moves away from the leader, while in 3D it remains bounded.
 

PDFhttp://www.mcs.anl.gov/papers/P6018-0616.pdf