Distributed averaging with linear objective maps
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- 作者：Xudong Chen xdchen@illinois.edu" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Mohamed-Ali Belabbas belabbas@illinois.edu" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; Tamer Başar basar1@illinois.edu" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae
- 关键词：Networked control systems ; Multi-agent systems ; Decentralized systems ; Distributed averaging
- 刊名：Automatica
- 出版年：2016
- 出版时间：August 2016
- 年：2016
- 卷：70
- 期：Complete
- 页码：179-188
- 全文大小：613 K
文摘
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.