Average Consensus in the Presence of Dynamically Changing Directed Topologies and Time Delays

Themistoklis Charalambous*, Christoforos N. Hadjicostis

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2014 IEEE 53rd Annula Conference on Decision and Control (CDC)
PublisherIEEE
Pages709-714
Number of pages6
ISBN (Electronic)978-1-4673-6090-6
ISBN (Print)978-1-4799-7746-8
DOIs
Publication statusPublished - 2014
MoE publication typeA4 Article in a conference publication
EventIEEE Conference on Decision and Control - Los Angeles, Canada
Duration: 15 Dec 201417 Dec 2014
Conference number: 53

Conference

ConferenceIEEE Conference on Decision and Control
Abbreviated titleCDC
CountryCanada
CityLos Angeles
Period15/12/201417/12/2014

Keywords

  • STRONGLY CONNECTED DIGRAPHS
  • NETWORKS
  • ALGORITHMS
  • AGENTS

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