1,173 research outputs found
Average Consensus in the Presence of Delays and Dynamically Changing Directed Graph Topologies
Classical approaches for asymptotic convergence to the global average in a
distributed fashion typically assume timely and reliable exchange of
information between neighboring components of a given multi-component system.
These assumptions are not necessarily valid in practical settings due to
varying delays that might affect transmissions at different times, as well as
possible changes in the underlying interconnection topology (e.g., due to
component mobility). In this work, we propose protocols to overcome these
limitations. We first consider a fixed interconnection topology (captured by a
- possibly directed - graph) and propose a discrete-time protocol that can
reach asymptotic average consensus in a distributed fashion, despite the
presence of arbitrary (but bounded) delays in the communication links. The
protocol requires that each component has knowledge of the number of its
outgoing links (i.e., the number of components to which it sends information).
We subsequently extend the protocol to also handle changes in the underlying
interconnection topology and describe a variety of rather loose conditions
under which the modified protocol allows the components to reach asymptotic
average consensus. The proposed algorithms are illustrated via examples.Comment: 37 page
Local pinning of networks of multi-agent systems with transmission and pinning delays
We study the stability of networks of multi-agent systems with local pinning
strategies and two types of time delays, namely the transmission delay in the
network and the pinning delay of the controllers. Sufficient conditions for
stability are derived under specific scenarios by computing or estimating the
dominant eigenvalue of the characteristic equation. In addition, controlling
the network by pinning a single node is studied. Moreover, perturbation methods
are employed to derive conditions in the limit of small and large pinning
strengths.Numerical algorithms are proposed to verify stability, and simulation
examples are presented to confirm the efficiency of analytic results.Comment: 6 pages, 3 figure
Performance analysis with network-enhanced complexities: On fading measurements, event-triggered mechanisms, and cyber attacks
Copyright © 2014 Derui Ding et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.Nowadays, the real-world systems are usually subject to various complexities such as parameter uncertainties, time-delays, and nonlinear disturbances. For networked systems, especially large-scale systems such as multiagent systems and systems over sensor networks, the complexities are inevitably enhanced in terms of their degrees or intensities because of the usage of the communication networks. Therefore, it would be interesting to (1) examine how this kind of network-enhanced complexities affects the control or filtering performance; and (2) develop some suitable approaches for controller/filter design problems. In this paper, we aim to survey some recent advances on the performance analysis and synthesis with three sorts of fashionable network-enhanced complexities, namely, fading measurements, event-triggered mechanisms, and attack behaviors of adversaries. First, these three kinds of complexities are introduced in detail according to their engineering backgrounds, dynamical characteristic, and modelling techniques. Then, the developments of the performance analysis and synthesis issues for various networked systems are systematically reviewed. Furthermore, some challenges are illustrated by using a thorough literature review and some possible future research directions are highlighted.This work was supported in part by the National Natural Science Foundation of China under Grants 61134009, 61329301, 61203139, 61374127, and 61374010, the Royal Society of the UK, and the Alexander von Humboldt Foundation of Germany
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