Bauso, D., Giarré, L. and Pesenti, R. (2006) Non-linear protocols for optimal distributed consensus in networks of dynamic agents. Systems & Control Letters, 55 (11). 918 - 928. ISSN 0167-6911
Abstract
We consider stationary consensus protocols for networks of dynamic agents with fixed topologies. At each time instant, each agent knows only its and its neighbors’ state, but must reach consensus on a group decision value that is function of all the agents’ initial state. We show that the agents can reach consensus if the value of such a function is time-invariant when computed over the agents’ state trajectories. We use this basic result to introduce a non-linear protocol design rule allowing consensus on a quite general set of values. Such a set includes, e.g., any generalized mean of order p of the agents’ initial states. As a second contribution we show that our protocol design is the solution of individual optimizations performed by the agents. This notion suggests a game theoretic interpretation of consensus problems as mechanism design problems. Under this perspective a supervisor entails the agents to reach a consensus by imposing individual objectives. We prove that such objectives can be chosen so that rational agents have a unique optimal protocol, and asymptotically reach consensus on a desired group decision value. We use a Lyapunov approach to prove that the asymptotical consensus can be reached when the communication links between nearby agents define a time-invariant undirected network. Finally we perform a simulation study concerning the vertical alignment maneuver of a team of unmanned air vehicles.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2006 Elsevier. This is an author produced version of a paper subsequently published in Systems & Control Letters. Uploaded in accordance with the publisher's self-archiving policy. Article available under the terms of the CC-BY-NC-ND licence (https://creativecommons.org/licenses/by-nc-nd/4.0/) |
Keywords: | Consensus protocols; Decentralized control; Optimal control; Networks |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 10 Sep 2015 11:24 |
Last Modified: | 21 Mar 2018 22:38 |
Published Version: | http://dx.doi.org/10.1016/j.sysconle.2006.06.005 |
Status: | Published |
Publisher: | Elsevier |
Refereed: | Yes |
Identification Number: | 10.1016/j.sysconle.2006.06.005 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:89771 |