16,230 research outputs found
Consensus problems in networks of agents with switching topology and time-delays
In this paper, we discuss consensus problems for networks of dynamic agents with fixed and switching topologies. We analyze three cases: 1) directed networks with fixed topology; 2) directed networks with switching topology; and 3) undirected networks with communication time-delays and fixed topology. We introduce two consensus protocols for networks with and without time-delays and provide a convergence analysis in all three cases. We establish a direct connection between the algebraic connectivity (or Fiedler eigenvalue) of the network and the performance (or negotiation speed) of a linear consensus protocol. This required the generalization of the notion of algebraic connectivity of undirected graphs to digraphs. It turns out that balanced digraphs play a key role in addressing average-consensus problems. We introduce disagreement functions for convergence analysis of consensus protocols. A disagreement function is a Lyapunov function for the disagreement network dynamics. We proposed a simple disagreement function that is a common Lyapunov function for the disagreement dynamics of a directed network with switching topology. A distinctive feature of this work is to address consensus problems for networks with directed information flow. We provide analytical tools that rely on algebraic graph theory, matrix theory, and control theory. Simulations are provided that demonstrate the effectiveness of our theoretical results
Optimal scaling of the ADMM algorithm for distributed quadratic programming
This paper presents optimal scaling of the alternating directions method of
multipliers (ADMM) algorithm for a class of distributed quadratic programming
problems. The scaling corresponds to the ADMM step-size and relaxation
parameter, as well as the edge-weights of the underlying communication graph.
We optimize these parameters to yield the smallest convergence factor of the
algorithm. Explicit expressions are derived for the step-size and relaxation
parameter, as well as for the corresponding convergence factor. Numerical
simulations justify our results and highlight the benefits of optimally scaling
the ADMM algorithm.Comment: Submitted to the IEEE Transactions on Signal Processing. Prior work
was presented at the 52nd IEEE Conference on Decision and Control, 201
Synchronization in complex networks
Synchronization processes in populations of locally interacting elements are
in the focus of intense research in physical, biological, chemical,
technological and social systems. The many efforts devoted to understand
synchronization phenomena in natural systems take now advantage of the recent
theory of complex networks. In this review, we report the advances in the
comprehension of synchronization phenomena when oscillating elements are
constrained to interact in a complex network topology. We also overview the new
emergent features coming out from the interplay between the structure and the
function of the underlying pattern of connections. Extensive numerical work as
well as analytical approaches to the problem are presented. Finally, we review
several applications of synchronization in complex networks to different
disciplines: biological systems and neuroscience, engineering and computer
science, and economy and social sciences.Comment: Final version published in Physics Reports. More information
available at http://synchronets.googlepages.com
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