Conference proceeding
Anchored consensus in multiagent systems
Proceedings of the 30th Chinese Control Conference, pp.4916-4919
Chinese Control Conference, 30 (Yantai, China, 07/22/2011 - 07/24/2011)
07/2011
Abstract
Consensus algorithms have a degree of freedom that permits the possibility of drift in the presence of noise, even though consensus is maintained. In this paper we introduce the alternative notion of anchored consensus. In this new framework one node acts as an anchor. The remaining nodes adjust their states as they would in a standard consensus algorithm. The anchor node also adjusts its state as before with two notable modifications. First it is fed by an external source a constant, potentially noisy signal. Second it has an additional self-feedback term that assists in the anchoring process. We investigate the behavior of this algorithm and demonstrate that in the noise free case consensus is achieved at an exponential rate. Further near consensus is achieved in the noisy case without the unbounded drift manifest in traditional consensus algorithms.
Details
- Title: Subtitle
- Anchored consensus in multiagent systems
- Creators
- Soura Dasgupta - University of IowaErwei Bai - University of IowaRoberto Tempo - IEIIT-CNR Politec. di Torino, Torino, Italy
- Resource Type
- Conference proceeding
- Publication Details
- Proceedings of the 30th Chinese Control Conference, pp.4916-4919
- Conference
- Chinese Control Conference, 30 (Yantai, China, 07/22/2011 - 07/24/2011)
- Publisher
- IEEE
- ISSN
- 1934-1768
- eISSN
- 2161-2927
- Language
- English
- Date published
- 07/2011
- Academic Unit
- Electrical and Computer Engineering
- Record Identifier
- 9984197916102771
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