Pseudo Multi-hop Distributed Consensus Algorithm with Time Delay

Abstract

Abstract.In this paper, we analyze the pseudo multi-hop distributed consensus algorithm with time-delay. If there is time-delay among agents, the convergence performance of distributed consensus algorithms degrades. Supposing that the time-delay in every link is identical and invariant in time and spatial, we analyze the convergence performance of the pseudo multi-hop distributed consensus algorithm with time-delay, and calculate the maximum time-delay that the pseudo multi-hop algorithm remains stable. Finally, simulation results are provided to verify these analytical results.

Adaptive Guaranteed-Performance Consensus Control for Multi-Agent Systems with an Adjustable Convergence Speed

“…As a result, the convergence speed of multi-agent system (1) can be linearly regulated approximately. However, although many approaches have been used to adjust the convergence speed in [33][34][35][36][37][38], all of them depend on the minimum nonzero eigenvalue of L associated with the system topology.…”

“…Yuan et al [33] used partial information of second-order neighbors in different cases to accelerate distributed consensus through choosing suitable edges, and a similar approach was applied in [34]. In order to accelerate the convergence speed and reduce the communication cost among nodes with undirected topologies, Pseudo multi-hop relay algorithms were proposed in [35], which was also extended to high-order systems with directed topologies in [36]. In addition, predictive control methods were introduced to make multi-agent systems achieve fast consensus in [37] and [38].…”

Pseudo Multi-hop Distributed Consensus Algorithm with Link Failure

“…In order to accelerate the convergence rate of distributed consensus, in [3], the pseudo multi-hop distributed consensus algorithm is proposed. The pseudo multi-hop distributed consensus algorithm accelerates dramatically the convergence rate by utilizing the previous information of non-adjacency nodes based on single-hop communication.…”