Stability and Performance of Non-Homogeneous Multi-Agent Systems on a Graph

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Stefania Tonetti, Richard M Murray
IFAC World Congress, 2010 (Submitted)

This paper considers distributed control of interconnected multi-agent systems. The dynamics of the individual agents are not required to be homogeneous and the interaction topology is described by an arbitrary directed graph. We derive the sensitivity transfer functions between every pair of agents and we analyze stability and performance of non-homogeneous systems, showing that the low frequency behavior is influenced not only by topology, but also by static gain and poles of the agents.