{"title":"Memory-Based Accelerated Consensus for Second-Order Multi-Agent Systems With Delay","authors":"Mengya Huang;Jing-Wen Yi;Li Chai","doi":"10.1109/TSIPN.2024.3417225","DOIUrl":null,"url":null,"abstract":"Time delay, which is particularly common in reality, generally has a negative impact on system performance. In order to improve the convergence rate, memory term is adopt to design the fast consensus protocol for second-order multi-agent systems(MASs) with time delay. Through the graph Fourier transform, the consensus problem is transformed to a simultaneous stability problem, and the necessary and sufficient condition to reach consensus is given. Then, a fast consensus algorithm based on gradient descent is proposed to optimize the convergence rate. For MASs with small delay, the explicit formulas of the optimal control gains and the fastest convergence rate are obtained for memory-based and memoryless protocols respectively. Finally, numerical examples are given to illustrate the validity of the theoretical results.","PeriodicalId":56268,"journal":{"name":"IEEE Transactions on Signal and Information Processing over Networks","volume":"10 ","pages":"574-583"},"PeriodicalIF":3.0000,"publicationDate":"2024-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Signal and Information Processing over Networks","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10585327/","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
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Abstract
Time delay, which is particularly common in reality, generally has a negative impact on system performance. In order to improve the convergence rate, memory term is adopt to design the fast consensus protocol for second-order multi-agent systems(MASs) with time delay. Through the graph Fourier transform, the consensus problem is transformed to a simultaneous stability problem, and the necessary and sufficient condition to reach consensus is given. Then, a fast consensus algorithm based on gradient descent is proposed to optimize the convergence rate. For MASs with small delay, the explicit formulas of the optimal control gains and the fastest convergence rate are obtained for memory-based and memoryless protocols respectively. Finally, numerical examples are given to illustrate the validity of the theoretical results.
期刊介绍：
The IEEE Transactions on Signal and Information Processing over Networks publishes high-quality papers that extend the classical notions of processing of signals defined over vector spaces (e.g. time and space) to processing of signals and information (data) defined over networks, potentially dynamically varying. In signal processing over networks, the topology of the network may define structural relationships in the data, or may constrain processing of the data. Topics include distributed algorithms for filtering, detection, estimation, adaptation and learning, model selection, data fusion, and diffusion or evolution of information over such networks, and applications of distributed signal processing.
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