3HAC025097-001/14 DSQC639 主计算机板

The consistency problem of dynamic agent networks with fixed and switching topologies. We analyze three situations: 1) Directed networks with fixed topology; 2) Directed networks with switching topology; 3) An undirected network with communication delay and fixed topology. 3HAC025097-001/14 DSQC639. We introduce two network consensus protocols with and without latency, and provide convergence analysis in all three scenarios. We have established a direct connection between the algebraic connectivity (or Federer eigenvalues) of the network and the performance (or negotiation speed) of linear consensus protocols. This requires extending the concept of algebraic connectivity of undirected graphs to directed graphs.
It has been proven that balanced directed graphs play a crucial role in solving the average consensus problem. We introduce an inconsistency function to analyze the convergence of consensus protocols. The inconsistent function is the Lyapunov function of inconsistent network dynamics. 3HAC025097-001/14 DSQC639 We propose a simple inconsistency function, which is a universal Lyapunov function for the inconsistency dynamics of directed networks with commutative topology. A notable feature of this work is to address the issue of consistency in directed information flow networks. We provide analytical tools that rely on algebraic graph theory, matrix theory, and control theory. The simulation results demonstrate the effectiveness of the theoretical results.