Quantized Consensus

Kashyap, A.; Başar, Tamer; Srikant, R.

doi:10.1109/isit.2006.261862

Cited by 143 publications

(272 citation statements)

References 17 publications

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“…From Lemma 1, one has as t → ∞. Hence, the leader-following practical consensus is achieved under the consensus protocol (14). The proof of the second part is similar to Theorem 2, and is therefore omitted here.…”

Section: B Distributed Event-triggered Control With Uniform Quantizamentioning

confidence: 96%

“…Hence, we assume that the followers get access to the information of the leader and sample the information of the leader based on their triggering sequences. Based on the observations, we consider the protocol as (14).…”

Section: B Distributed Event-triggered Control With Uniform Quantizamentioning

confidence: 99%

“…As a matter of fact, information transmitted among the agents needs to be quantized or coded prior to being broadcasted. As a consequence, many researchers have paid attention to the analysis of distributed consensus algorithms with quantized communication [14]- [16].…”

Section: Introductionmentioning

confidence: 99%

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Leader-Following Consensus for Linear and Lipschitz Nonlinear Multiagent Systems With Quantized Communication

Zhang

Hao

et al. 2017

IEEE Trans. Cybern.

141

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This paper studies the leader-following consensus problem for linear and Lipschitz nonlinear multiagent systems where the communication topology has a directed spanning tree with the leader as the root. Due to the constraints of communication bandwidth and storage space, agents can only receive uniform quantized information. We first consider the leader-following consensus problem for linear multiagent systems via quantized control. Then, in order to reduce the communication load, an event-triggered control strategy is investigated to solve the consensus problem for linear multiagent systems with uniform quantization. It is shown that leader-following practical consensus can be achieved and no Zeno behavior occurs in this case. Furthermore, the proposed control strategies are extended to investigate the leader-following consensus problem for multiagent systems with Lipschitz nonlinear dynamics. Simulation results are given to demonstrate the feasibility and effectiveness of the theoretical analysis.

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Section: B Distributed Event-triggered Control With Uniform Quantizamentioning

confidence: 96%

Section: B Distributed Event-triggered Control With Uniform Quantizamentioning

confidence: 99%

See 1 more Smart Citation

Leader-Following Consensus for Linear and Lipschitz Nonlinear Multiagent Systems With Quantized Communication

Zhang

Hao

et al. 2017

IEEE Trans. Cybern.

141

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“…[9] Consider a distributed algorithm in which, for any graph G with k nodes, in addition to the constraint that the value x i , i = 1, · · · , k at each node isalways an integer and the sum of the k values in the network does not change with time. The following conditions are met: (C1).…”

mentioning

confidence: 99%

“…Lemma 4.2:[9] When quantized consensus, at any time t, two nodes are selected and the value difference of the two nodes are decreased when bigger than 1, or do swap when the difference equals to 1, or else do nothing. Let N max (t) = |i|x i (t) = M (t)| be the number of nodes with the maximum value in the network at time t. Then, for any time t such that D(t) ≥ 2,…”

mentioning

confidence: 99%

Memoryless cooperative graph search based on the simulated annealing algorithm

Hou¹,

Yan²

2010

2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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This paper presents a control and coordination algorithm for a group of autonomous agents to find the optimal path in a partially known environment. The novel control law utilizes the simulated annealing algorithm to search for the optimal path avoiding obstacles and threats or being trapped into the local values, but converging to the global optimal path with probability 1. We also show the multi-agent searching for the optimal path based on the graph partitioning need much less computation than they work alone.978-1-4244-8030-2/10/$26.00 ©2010 IEEE

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Average consensus with weighting matrix design for quantized communication on directed switching graphs

Guo

Fang

et al. 2012

Adaptive Control & Signal

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We study average consensus for directed graphs with quantized communication under fixed and switching topologies. In the presence of quantization errors, conventional consensus algorithms fail to converge and may suffer from an unbounded asymptotic mean square error. We develop robust consensus algorithms to reduce the effect of quantization. Specifically, we introduce a robust weighting matrix design and use the H 1 performance index to measure the sensitivity from the quantization error to the consensus deviation. Linear matrix inequalities are used as design tools. The mean square deviation is proven to converge and its upper bound is explicitly given in the case of fixed topology with probabilistic quantization. Numerical results demonstrate the effectiveness of this method. 520 S. LI ET AL.in a practical network. The authors in [13] consider the continuous-time quantized consensus problem, where a discontinuous protocol is designed to restrict the dynamic evolving towards the initial average. However, there exists unavoidable chattering in practice, and replacing the discontinuous function with a hysteresis, one remedies the problem but reduces accuracy. A protocol featuring an attractive property of preserving the initial average throughout the iterations was proposed in [14]. This protocol drives the system close to the average consensus with a bounded error. To further reduce the quantization error effects, a sequence averaging algorithm based on this sum-preserving protocol was proposed in [15]. Meanwhile, [16][17][18] studied the quantization problem in gossip based consensus algorithms. In [18], the author proposed two different protocols, that is, a globally quantized strategy and a partially quantized strategy, respectively. For the globally quantized strategy, it was shown that all states eventually reach agreement, but the value of the agreement is different from the initial average. In contrast, the partially quantized strategy preserves the average and the consensus error is bounded by one (states are quantized to integers) after a finite period of time. The partially quantized strategy is also studied in [16,17] and similar conclusions are extended to general quantizers. It was shown that the consensus error of this algorithm is bounded by one but whether or not the consensus error can be further reduced was not explored.In this paper, we consider distributed consensus on directed switching communication graphs, which are used to model many real communication systems [19]. Specifically, inspired by the idea of robust H 1 consensus control [20], we model the problem as a robust consensus design problem with mismatched quantization noises and design the weighting matrix of the average consensus protocol introduced in [14] under the H 1 performance index to mitigate the consensus deviation caused by quantization errors. Using linear matrix inequality (LMI) as design tools, we show that the consensus deviation is bounded by a pre-designated constant. For a probabilistic quantization scheme on direct...

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Quantized Consensus

Cited by 143 publications

References 17 publications

Leader-Following Consensus for Linear and Lipschitz Nonlinear Multiagent Systems With Quantized Communication

Leader-Following Consensus for Linear and Lipschitz Nonlinear Multiagent Systems With Quantized Communication

Memoryless cooperative graph search based on the simulated annealing algorithm

Average consensus with weighting matrix design for quantized communication on directed switching graphs

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