@article{949257df1fe04f2e8a983de2539260f5,
title = "Multi-leader coordination algorithm for networks with switching topology and quantized information",
abstract = "This paper analyzes the stability and convergence properties of a proportional-integral protocol for coordination of a network of agents with dynamic information flow and quantized information exchange. In the setup adopted, each agent is only required to exchange its coordination state with its neighboring agents, and the desired reference rate is only available to a group of leaders. We show that the integral term of the protocol allows the agents to learn the reference rate, rather than have it available a priori, and also provides disturbance rejection capabilities. The paper addresses the case where the graph that captures the underlying network topology is not connected during some interval of time or even fails to be connected at all times.",
keywords = "Consensus algorithms, Quantization, Switching topology",
author = "Enric Xargay and Ronald Choe and Naira Hovakimyan and Isaac Kaminer",
note = "Funding Information: Isaac Kaminer received a Ph.D. in Electrical Engineering from the University of Michigan in 1992. Before that he spent four years working at Boeing Commercial, first as a control engineer in the 757/767/747-400 Flight Management Computer Group and then as an engineer in the Flight Control Research Group. Since 1992 he has been with the Naval Postgraduate School first at the Aeronautics and Astronautics Department and currently at the Department of Mechanical and Aerospace Engineering where he is a professor. He has over 20 years of experience in the development and flight testing of guidance, navigation, and control algorithms for both manned and unmanned aircraft. His more recent efforts were focused on development of coordinated control strategies for multiple UAVs and vision-based guidance laws for a single UAV. He has coauthored more than 100 refereed publications. Over the years his research has been supported by ONR, NASA, the US Army, NAVAIR, and USSOCOM. Funding Information: Research is supported by AFOSR , ARO , and ONR . The material in this paper was presented at the 51st IEEE Conference on Decision and Control (CDC), December 10–13, 2012, Maui, Hawaii, USA. This paper was recommended for publication in revised form by Associate Editor Wei Ren under the direction of Editor Frank Allg{\"o}wer. ",
year = "2014",
month = mar,
doi = "10.1016/j.automatica.2014.02.004",
language = "English (US)",
volume = "50",
pages = "841--851",
journal = "Automatica",
issn = "0005-1098",
publisher = "Elsevier Ltd",
number = "3",
}