Robustness of Aggregation in Networked Dynamical Systems
Luca Scardovi and Naomi Ehrich Leonard Proceedings of ROBOCOMM'09,
Odense, Denmark, 2009.
In this paper we study robustness of aggregation in networks of coupled
identical systems driven by possibly different external inputs. This property is
guaranteed by providing a finite $L_2$ gain condition for the closed-loop system.
We show, for a class of systems, how robustness depends on the connectivity of the
underlying communication graph.
Applications range from coordination problems where there are conflicting objectives
to the study of aggregation phenomena where perturbations of the nominal systems must
be taken into account. Both scenarios arise in networks of biological and engineered
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