CUED Publications database

Decentralised minimal-time consensus

Yuan, Y and Stan, G-B and Barahona, M and Shi, L and Goncalves, J (2011) Decentralised minimal-time consensus. Proceedings of the IEEE Conference on Decision and Control. pp. 4282-4289. ISSN 0191-2216

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Abstract

This study considers the discrete-time dynamics of a network of agents that exchange information according to the nearest-neighbour protocol under which all agents are guaranteed to reach consensus asymptotically. We present a fully decentralised algorithm that allows any agent to compute the consensus value of the whole network in finite time using only the minimal number of successive values of its own history. We show that this minimal number of steps is related to a Jordan block decomposition of the network dynamics and present an algorithm to obtain the minimal number of steps in question by checking a rank condition on a Hankel matrix of the local observations. Furthermore, we prove that the minimal number of steps is related to other algebraic and graph theoretical notions that can be directly computed from the Laplacian matrix of the graph and from the underlying graph topology. © 2011 IEEE.

Item Type: Article
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 11:50
Last Modified: 16 Dec 2014 19:07
DOI: 10.1109/CDC.2011.6161213