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Average consensus in the presence of dynamically changing directed topologies and time delays
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.
2014 (English)In: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2014, no February, 709-714 p.Conference paper, Published paper (Refereed)
Abstract [en]

We have recently proposed a robustified ratio consensus algorithm which achieves asymptotic convergence to the global average in a distributed fashion in static strongly connected digraphs, despite the possible presence of bounded but otherwise arbitrary delays. In this work, we propose a protocol which reaches asymptotic convergence to the global average in a distributed fashion under possible changes in the underlying interconnection topology (e.g., due to component mobility), as well as time-varying delays that might affect transmissions at different times. More specifically, we extend our previous work to also account for the case where, in addition to arbitrary but bounded delays, we may have time varying communication links. The proposed protocol requires that each component has knowledge of the number of its outgoing links, perhaps with some bounded delay, and that the digraphs formed by the switching communication topologies over a finite time window are jointly strongly connected.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2014. no February, 709-714 p.
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-176142DOI: 10.1109/CDC.2014.7039465Scopus ID: 2-s2.0-84931836743OAI: oai:DiVA.org:kth-176142DiVA: diva2:875083
Conference
2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014, 15 December 2014 through 17 December 2014
Note

QC 20151130

Available from: 2015-11-30 Created: 2015-11-02 Last updated: 2015-11-30Bibliographically approved

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Charalambous, Themistoklis
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