TY - JOUR
T1 - Distributed averaging with linear objective maps
AU - Chen, Xudong
AU - Belabbas, Mohamed Ali
AU - Başar, Tamer
N1 - Publisher Copyright:
© 2016 Elsevier Ltd. All rights reserved.
Copyright:
Copyright 2016 Elsevier B.V., All rights reserved.
PY - 2016/8/1
Y1 - 2016/8/1
N2 - A distributed averaging system is a linear multi-agent system in which agents communicate to reach an agreement (or a consensus) state, defined as the average of the initial states of the agents. Consider a more generalized situation in which each agent is given a nonnegative weight and the agreement state is defined as the weighted average of the initial conditions. We characterize in this paper the weighted averages that can be evaluated in a decentralized way by agents communicating over a directed graph. Specifically, we introduce a linear function, called the objective map, that defines the desired final state as a function of the initial states of the agents. We then provide a complete answer to the question of whether there is a decentralized consensus dynamics over a given digraph which converges to the final state specified by an objective map. In particular, we characterize not only the set of objective maps that are feasible for a given digraph, but also the consensus dynamics that implements the objective map. In addition, we present a decentralized algorithm to design the consensus dynamics.
AB - A distributed averaging system is a linear multi-agent system in which agents communicate to reach an agreement (or a consensus) state, defined as the average of the initial states of the agents. Consider a more generalized situation in which each agent is given a nonnegative weight and the agreement state is defined as the weighted average of the initial conditions. We characterize in this paper the weighted averages that can be evaluated in a decentralized way by agents communicating over a directed graph. Specifically, we introduce a linear function, called the objective map, that defines the desired final state as a function of the initial states of the agents. We then provide a complete answer to the question of whether there is a decentralized consensus dynamics over a given digraph which converges to the final state specified by an objective map. In particular, we characterize not only the set of objective maps that are feasible for a given digraph, but also the consensus dynamics that implements the objective map. In addition, we present a decentralized algorithm to design the consensus dynamics.
KW - Decentralized systems
KW - Distributed averaging
KW - Multi-agent systems
KW - Networked control systems
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U2 - 10.1016/j.automatica.2016.03.023
DO - 10.1016/j.automatica.2016.03.023
M3 - Article
AN - SCOPUS:84963831189
VL - 70
SP - 179
EP - 188
JO - Automatica
JF - Automatica
SN - 0005-1098
ER -