Reaching optimal consensus for multi-agent systems based on approximate projection
2012 (English)In: 10th World Congress on Intelligent Control and Automation (WCICA), 2012, IEEE conference proceedings, 2012, 2794-2800 p.Conference paper (Refereed)
In this paper, we propose an approximately projected consensus algorithm (APCA) for a network to cooperatively compute the intersection of several convex sets, each of which is known only to a particular node. Instead of assuming the exact convex projection, we allow each node to just compute an approximate projection. The communication graph is directed and time-varying, and nodes can only exchange information via averaging among local view. We present sufficient and/or necessary conditions for the APCA, which shows on how much projection accuracy is required to ensure a global consensus within the intersection set when the communication graphs is uniformly jointly strongly connected. We show that π/4 is a critical angle error in the projection approximation to ensure a bounded solution for iterative projections. A numerical example indicates that the APCA may achieve better performance than the exact projected consensus algorithm. The results add the understanding of the fundamentals of distributed convex intersection computation.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2012. 2794-2800 p.
Multi-agent systems, approximate projection, intersection computation, optimal consensus
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-111469DOI: 10.1109/WCICA.2012.6358346ScopusID: 2-s2.0-84872342739OAI: oai:DiVA.org:kth-111469DiVA: diva2:586477
IEEE World Congress on Intelligent control and Automation, Beijing, China,6-8 July 2012
QC 201301162013-01-162013-01-112013-01-16Bibliographically approved