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Optimal tradeoff between instantaneous and delayed neighbor information in consensus algorithms
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2017 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 83, p. 116-123Article in journal (Refereed) Published
Abstract [en]

We consider a distributed consensus problem over a network, where at each time instant every node receives two pieces of information from disjoint neighboring sets: a weighted average of current states of neighbors from a primary network, and a weighted average of one-hop delayed states of neighbors from a secondary network. The proposed algorithm makes each node update its state to a weighted average of these individual averages. We show that convergence to consensus is guaranteed with non-trivial weights. We also present an explicit formula for the weights allocated to each piece of the information for the optimal rate of convergence, when the secondary network is the complement of the primary network. Finally numerical examples are given to explore the case when the neighbor sets of the agents do not cover the whole network.

Place, publisher, year, edition, pages
Elsevier, 2017. Vol. 83, p. 116-123
Keywords [en]
Consensus algorithms, Convergence rate, Delayed information, Optimal tradeoff
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-212250DOI: 10.1016/j.automatica.2017.06.021Scopus ID: 2-s2.0-85021687590OAI: oai:DiVA.org:kth-212250DiVA, id: diva2:1133981
Note

QC 20170817

Available from: 2017-08-17 Created: 2017-08-17 Last updated: 2017-08-17Bibliographically approved

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