Using Stochastic Approximation Type Algorithm for Choice of Consensus Protocol Step-Size in Changing Conditions*

In the paper a multi-agent network system of different computing nodes is considered. A problem of load balancing in the network is addressed. The problem is formulated as consensus achievement problem and solved via local voting protocol. Agents exchange information about their states in presence of noise in communication channels. At certain moment network system topology changes and new step size of control protocol is chosen to meet new conditions. Step size adjustment is done by stochastic approximation type algorithm. Analytically obtained optimal step size values are given. Simulation example demonstrating step size adjustment is provided.