Convergence speed in distributed consensus over dynamically switching random networks

被引:110
作者
Zhou, Jing [1 ]
Wang, Qian [1 ]
机构
[1] Penn State Univ, Dept Mech & Nucl Engn, University Pk, PA 16802 USA
关键词
Consensus; Convergence speed; Stochastic stability; Convergence factor; Multi-agent coordination; Random networks; MULTIAGENT SYSTEMS; SEEKING; AGENTS; RATES;
D O I
10.1016/j.automatica.2009.01.021
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Characterizing convergence speed is one of the most important research challenges in the design of distributed consensus algorithms for networked multi-agent systems. In this paper, we consider a group of agents that communicate via a dynamically switching random information network. Each link in the network, which represents the directed/undirected information flow between any ordered/unordered pair of agents, could be subject to failure with a certain probability. Hence we model the information flow using dynamically switching random graphs. We characterize the convergence speed for the distributed discrete-time consensus algorithm over a variety of random networks with arbitrary weights. In particular, we propose the asymptotic and per-step (mean square) convergence factors as measures of the convergence speed and derive the exact value for the per-step (mean square) convergence factor. Numerical examples are also given to illustrate our theoretical results. (C) 2009 Elsevier Ltd. All rights reserved.
引用
收藏
页码:1455 / 1461
页数:7
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