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Consensus Seeking Using Multi-Hop Relay Protocol |
Abstract |
We consider the problem of average consens … We consider the problem of average consensus seeking in networked multi-agent systems. Based
on local information and a simple distributed algorithm, states of all agents automatically converge to
the average value of the initial conditions, where the convergence speed is determined by the algebraic
connectivity of the underlying communication network. In order to achieve an average consensus quickly,
we propose a new type of consensus protocol, multi-hop relay protocol, in which each agent expands
its knowledge by employing multi-hop communication links. We explicitly show that multi-hop relay
protocol increases the convergence speed without physically changing the network topology. Moreover,
accumulated delays along communication links are discussed. We show that, for multi-hop relay protocol,
the faster the protocol converges, the more sensitive it is to the delay. This tradeoff is identified when
we investigate the stable delay margin using frequency sweep method. delay margin using frequency sweep method. +
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Authors | Zhipu Jin, Richard M Murray + |
ID | 2007f + |
Source | IEEE Transactions on Automatic Control, 2007 (submitted) + |
Tag | jm07-tac + |
Title | Consensus Seeking Using Multi-Hop Relay Protocol + |
Type | Preprint + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:17:20 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/jm07-tac_s.pdf + |
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