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Scale fragilities in localized consensus dynamics
Department of Automatic Control, Lund University, P.O. Box 118, SE-221 00 Lund, Sweden, P.O. Box 118, Lund.
Department of Mechanical Engineering at the University of California at Santa Barbara, Santa Barbara, CA 93106, USA.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).ORCID iD: 0000-0003-1835-2963
2023 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 153, article id 111046Article in journal (Refereed) Published
Abstract [en]

We consider distributed consensus in networks where the agents have integrator dynamics of order two or higher (n≥2). We assume all feedback to be localized in the sense that each agent has a bounded number of neighbors and consider a scaling of the network through the addition of agents in a modular manner, i.e., without re-tuning controller gains upon addition. We show that standard consensus algorithms, which rely on relative state feedback, are subject to what we term scale fragilities, meaning that stability is lost as the network scales. For high-order agents (n≥3), we prove that no consensus algorithm with fixed gains can achieve consensus in networks of any size. That is, while a given algorithm may allow a small network to converge, it causes instability if the network grows beyond a certain finite size. This holds in families of network graphs whose algebraic connectivity, that is, the smallest non-zero Laplacian eigenvalue, is decreasing towards zero in network size (e.g. all planar graphs). For second-order consensus (n=2) we prove that the same scale fragility applies to directed graphs that have a complex Laplacian eigenvalue approaching the origin (e.g. directed ring graphs). The proofs for both results rely on Routh–Hurwitz criteria for complex-valued polynomials and hold true for general directed network graphs. We survey classes of graphs subject to these scale fragilities, discuss their scaling constants, and finally prove that a sub-linear scaling of nodal neighborhoods can suffice to overcome the issue.

Place, publisher, year, edition, pages
Elsevier BV , 2023. Vol. 153, article id 111046
Keywords [en]
Fundamental limitations, Large-scale systems, Multi-agent networks
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-331604DOI: 10.1016/j.automatica.2023.111046ISI: 000993915200001Scopus ID: 2-s2.0-85154053849OAI: oai:DiVA.org:kth-331604DiVA, id: diva2:1781972
Note

QC 20230711

Available from: 2023-07-11 Created: 2023-07-11 Last updated: 2025-01-28Bibliographically approved

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Sandberg, Henrik

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