%AOra, H.%AGayme, Dennice%D2019%I
%K
%MOSTI ID: 10109816
%PMedium: X
%TDisorder in large-scale networks with uni-directional feedback
%XThis work investigates local and global measures
of disorder in large-scale directed networks of double-integrator
systems connected over a multi-dimensional torus. We quantify
these performance measures in systems subjected to distributed
disturbances using an H2 norm with outputs corresponding
to local state errors or deviations from the global average.
We consider two directed uni-directional state feedback inter-
connections that correspond to relative position and relative
velocity feedback in vehicle network applications. Our main
result reveals that absolute state feedback plays a critical role
in system robustness when local state measurements are uni-
directional. Specifically, if absolute measurements of either state
variable are available, then systems with uni-directional relative
feedback perform as well as their symmetric bi-directional
counterparts but have the advantage of reduced communication
requirements. However in the absence of absolute feedback
their performance is worse; in fact, it is impossible to maintain
stability (i.e. a finite H2 norm) with uni-directional state mea-
surements for arbitrarily large networks. Numerical examples
illustrate the theory.
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