Transfer functions in consensus systems with higher-order dynamics and external inputs
Title | Transfer functions in consensus systems with higher-order dynamics and external inputs |
Publication Type | Technical reports |
Year of Publication | 2015 |
Authors | Herman, Ivo, Dan Martinec, and Michael Šebek |
Abstract | This paper considers transfer functions in consensus systems where agents have identical SISO dynamics of arbitrary order. The interconnecting structure is a directed graph. The transfer functions for various inputs and outputs are presented in simple product forms with a similar structure of the numerator and the denominator. This structure combines the network properties and the agent model in an explicit way. The link between a higher-order and a single-integrator dynamics is shown and the polynomials of the transfer function in the single-integrator system are related to the graph properties. These properties also allow to generalize a result on the minimal dimension of the controllable subspace to the directed graphs. |