Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Saturation-tolerant average consensus with controllable rates of convergence
S. S. Kia, J. Cortés, S. Martínez
Proceedings of the SIAM Conference on Control and Its Applications, San Diego, California, USA, 2013, pp. 121-128
Abstract
This paper considers the static average consensus problem for a
multi-agent system and proposes a distributed algorithm that enables
individual agents to set their own rate of convergence. The
algorithm has a two-time scale structure and is constructed using a
singular perturbation approach. A fast information processing state
uses a Laplacian consensus strategy to calculate the agreement value
in a distributed manner. The slow-time dynamic part, termed motion
phase, allows each agent to move towards the agreement point at its
own desired speed. We provide a complete analysis of the proposed
consensus algorithm. This covers the rate of convergence of
individual agents, effects of communication delays, robustness to
changes in the network topology, implementation in discrete time,
and performance guarantees under limited control authority. Our
analysis is based on tools from matrix theory, algebraic graph
theory and stability analysis. Numerical examples illustrate the
benefits of the proposed algorithm.
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Mechanical and Aerospace Engineering,
University of California, San Diego
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Ph: 1-858-822-7930
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cortes at ucsd.edu
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