论文标题
共识算法延迟鲁棒性的新结果
New Results on Delay Robustness of Consensus Algorithms
论文作者
论文摘要
自主代理的共识是合作控制中的基准问题。在本文中，我们考虑在随着时间的变化图上考虑标准的连续平均共识策略（或拉普拉斯流动），并专注于与通信延迟的共识的鲁棒性。这种鲁棒性已在图表的均匀准连通性的假设下证明。但是，众所周知，统一的连通性对于共识不需要。例如，在没有方向的图和未估计的通信共识的情况下，共同连接的条件较弱。在本文中，我们表明，在存在未知但有界的通信延迟的情况下，后者的结果仍然有效，此外，无向图的条件可以基本上放松，并被非实用类型对称的条件所取代。此外，对于与共识算法相关的延迟差异不平等的任何可行解决方案，可以证明共识。这种不平等自然出现在控制，分布式优化和社会动态模型的问题上。
Consensus of autonomous agents is a benchmark problem in cooperative control. In this paper, we consider standard continuous-time averaging consensus policies (or Laplacian flows) over time-varying graphs and focus on robustness of consensus against communication delays. Such a robustness has been proved under the assumption of uniform quasi-strong connectivity of the graph. It is known, however, that the uniform connectivity is not necessary for consensus. For instance, in the case of undirected graph and undelayed communication consensus requires a much weaker condition of integral connectivity. In this paper, we show that the latter results remain valid in presence of unknown but bounded communication delays, furthermore, the condition of undirected graph can be substantially relaxed and replaced by the conditions of non-instantaneous type-symmetry. Furthermore, consensus can be proved for any feasible solution of the delay differential inequalities associated to the consensus algorithm. Such inequalities naturally arise in problems of containment control, distributed optimization and models of social dynamics.
