Faster Consensus via Sparser Controller
arXiv (Cornell University)(2023)
摘要
In this paper, we investigate the architecture of an optimal controller that minimizes the convergence rate of a consensus protocol with single-integrator dynamics. Under the assumption that communication delays increase with the number of hops from which information is allowed to reach each agent, we address the optimal control design under delayed feedback and show that the optimal controller features, in general, a sparsely connected architecture.
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关键词
faster consensus,sparser controller
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