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A Unified Approach to Solve the Dynamic Consensus on the Average, Maximum, and Median Values with Linear Convergence
University of Cagliari, DIEE, Cagliari, Italy.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). (Digital Futures)ORCID iD: 0000-0002-5634-8802
KTH, School of Electrical Engineering and Computer Science (EECS). (Digital Futures)ORCID iD: 0000-0001-6522-4046
University of Cagliari, DIEE, Cagliari, Italy.ORCID iD: 0000-0001-9940-5929
2023 (English)In: 2023 62nd IEEE Conference on Decision and Control, CDC 2023, Institute of Electrical and Electronics Engineers (IEEE) , 2023, p. 6442-6448Conference paper, Published paper (Refereed)
Abstract [en]

This manuscript proposes novel distributed algorithms for solving the dynamic consensus problem in discrete-time multi-agent systems on three different objective functions: the average, the maximum, and the median. In this problem, each agent has access to an external time-varying scalar signal and aims to estimate and track a function of all the signals by exploiting only local communications with other agents. By recasting the problem as an online distributed optimization problem, the proposed algorithms are derived based on the distributed implementation of the alternating direction method of multipliers (ADMM) and are thus amenable to a unified analysis technique. A major contribution is that of proving linear convergence of these ADMM-based algorithms for the specific dynamic consensus problems of interest, for which current results could only guarantee sub-linear convergence. In particular, the tracking error is shown to converge within a bound, whereas the steady-state error is zero. Numerical simulations corroborate the theoretical findings, empirically show the robustness of the proposed algorithms to re-initialization errors, and compare their performance with that of state-of-the-art algorithms.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2023. p. 6442-6448
Series
Proceedings of the IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-343705DOI: 10.1109/CDC49753.2023.10383290ISI: 001166433805046Scopus ID: 2-s2.0-85184823289OAI: oai:DiVA.org:kth-343705DiVA, id: diva2:1839900
Conference
62nd IEEE Conference on Decision and Control, CDC 2023, Singapore, Singapore, Dec 13 2023 - Dec 15 2023
Note

QC 20240223

 Part of ISBN 979-8-3503-0124-3

Available from: 2024-02-22 Created: 2024-02-22 Last updated: 2024-03-26Bibliographically approved

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Bastianello, NicolaFranceschelli, MauroJohansson, Karl H.

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