Consensus with Ternary Messages

We provide a protocol for real-valued average consensus by networks of agents which exchange only a single message from the ternary alphabet {-1,0,1} between neighbors at each step. Our protocol works on time-varying undirected graphs subject to a connectivity condition, has a worst-case convergence time which is polynomial in the number of agents and the initial values, and requires no global knowledge about the graph topologies on the part of each node to implement except for knowing an upper bound on the degrees of its neighbors

Fast Consensus Tracking of Multiagent Systems with Diverse Communication Delays and Input Delays

The consensus tracking problem for discrete-time multiagent systems with input and communication delays is studied. A sufficient condition is obtained over a directed graph based on the frequency-domain analysis. Furthermore, a fast decentralized consensus tracking conditions based on increment PID algorithm are discussed for improving convergence speed of the multiagent systems. Based on this result, genetic algorithm is introduced to construct increment PID based on genetic algorithm for obtaining optimization consensus tracking performance. Finally, a numerable example is given to compare convergence speed of three tracking algorithms in the same condition. Simulation results show the effectiveness of the proposed algorithm

Optimal Synchronization for Networks of Noisy Double Integrators

none4In this technical note, we present a novel synchronization protocol to synchronize a network of controlled discrete-time double integrators which are nonidentical, with unknown model parameters and subject to additive measurement and process noise. This framework is motivated by the typical problem of synchronizing a network of clocks whose speeds are nonidentical and are subject to variations. This synchronization protocol is formally studied in its synchronous implementation. In particular, we provide a completely distributed strategy that guarantees convergence for any undirected connected communication graph and we also propose an optimal design strategy when the underlaying communication graph is known. Moreover, this protocol can be readily used to study the effect of noise and external disturbances on the steady-state performance. Finally, some simulations including also randomized implementation of the proposed algorithm are presented.noneCarli R; A. CHIUSO; Schenato L; Zampieri SCarli, Ruggero; Chiuso, Alessandro; Schenato, Luca; Zampieri, Sandr