Consensus on hierarchically decomposed topology to accelerate convergence and to improve delay robustness
Understanding the information flow structure is one of fundamental problems in multi-agent system, because it implies the mode and degree of information sharing among members, and thus affects the cooperative performance of group. Unfolded from consensus problem, this paper discusses the performance of multi-agent system from the view of topological optimization. A topology decomposition algorithm is developed to split the original single-layer topology into multi-layer structures. Consider the following constraints that 1) each layer establishes the connection with other layers via a sole leader in the layer, which guarantees the execution of hierarchical consensus; 2) each agent can at most interact with its neighbors restricted by the original topology of system. Performing consensus within the hierarchical structure obtained by our proposed algorithm will yield not only a faster convergence but also a better cooperative robustness with respective to delay than consensus on the original topology or other hierarchical structures.
hierarchical structure speed of convergence time-delay robustness consensus.
Xiaoli Li Hui Bai
School of Information Science and Technology, Donghua University, Shanghai 201620
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
597-602
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）