کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
695094 | 1460645 | 2016 | 10 صفحه PDF | دانلود رایگان |
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.
Journal: Automatica - Volume 70, August 2016, Pages 179–188