Guaranteed cost control of mobile sensor networks with Markov switching topologies.

TLDR: This paper investigates the consensus seeking problem of mobile sensor networks (MSNs) with random switching topologies by introducing a global topology-aware linear quadratic (LQ) cost as the performance measure and transforms the consensus problem to the stabilization of a Markovian jump system with guaranteed cost.

Abstract: This paper investigates the consensus seeking problem of mobile sensor networks (MSNs) with random switching topologies. The network communication topologies are composed of a set of directed graphs (or digraph) with a spanning tree. The switching of topologies is governed by a Markov chain. The consensus seeking problem is addressed by introducing a global topology-aware linear quadratic (LQ) cost as the performance measure. By state transformation, the consensus problem is transformed to the stabilization of a Markovian jump system with guaranteed cost. A sufficient condition for global mean-square consensus is derived in the context of stochastic stability analysis of Markovian jump systems. A computational algorithm is given to synchronously calculate both the sub-optimal consensus controller gains and the sub-minimum upper bound of the cost. The effectiveness of the proposed design method is illustrated by three numerical examples.