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Reaching optimal consensus for multi-agent systems based on approximate projection
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2012 (English)In: 10th World Congress on Intelligent Control and Automation (WCICA), 2012, IEEE conference proceedings, 2012, 2794-2800 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Keyword [en]
Multi-agent systems, approximate projection, intersection computation, optimal consensus
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-111469DOI: 10.1109/WCICA.2012.6358346Scopus ID: 2-s2.0-84872342739OAI: oai:DiVA.org:kth-111469DiVA: diva2:586477
Conference
IEEE World Congress on Intelligent control and Automation, Beijing, China,6-8 July 2012
Note

QC 20130116

Available from: 2013-01-16 Created: 2013-01-11 Last updated: 2016-11-24Bibliographically approved

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fulltext(590 kB)155 downloads
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Johansson, Karl Henrik

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