We consider continuous-time average consensus dynamics in which the agents' states are communicated through uniform quantizers. Solutions to the resulting system are defined in the Krasowskii sense and are proven to converge to conditions of "practical consensus". To cope with undesired chattering phenomena we introduce a hysteretic quantizer, and we study the convergence properties of the resulting dynamics by a hybrid system approach. (C) 2011 Elsevier Ltd. All rights reserved
This work presents a contribution to the solution of the average agreement problem on a network with quantized links. Starting from the well-known linear diffusion algorithm, we propose a simple and effective adaptation that is able to preserve the average of states and to drive the system near to the consensus value, when a uniform quantization is applied to communication between agents. The properties of this algorithm are investigated both by a worst-case analysis and by a probabilistic analysis, and are shown to depend on the spectral properties of the evolution matrix. A special attention is devoted to the issue of the dependence of the performance on the number of agents, and several examples are given
This paper considers the average consensus problem on a network of digital links, and proposes a set of algorithms based on pairwise “gossip” communications and updates. We study the convergence properties of such algorithms with the goal of answering two design questions, arising from the literature: whether the agents should encode their communication by a deterministic or a randomized quantizer, and whether they should use, and how, exact information regarding their own states in the update
This paper regards the coordination of networked systems, studied in the framework of hybrid dynamical systems. We design a coordination scheme which combines the use of ternary controllers with a self-triggered communication policy. The communication policy requires the agents to measure, at each sampling time, the difference between their states and those of their neighbors. The collected information is then used to update the control and determine the following sampling time. We show that the proposed scheme ensures finite-time convergence to a neighborhood of a consensus state: the coordination scheme does not require the agents to share a global clock, but allows them to rely on local clocks. We then study the robustness of the proposed self-triggered coordination system with respect to skews in the agents' local clocks, to delays, and to limited precision in communication. Furthermore, we present two significant variations of our scheme. First, assuming a global clock to be available, we design a time-varying controller which asymptotically drives the system to consensus. The assumption of a global clock is then discussed, and relaxed to a certain extent. Second, we adapt our framework to a communication model in which each agent polls its neighbors separately, instead of polling all of them simultaneously. This communication policy actually leads to a self-triggered "gossip" coordination system
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