文章基本信息

标题：Scalability and Fragility in Bounded-Degree Consensus Networks
本地全文：下载
作者：Emma Tegling ; Richard H. Middleton ; Maria M. Seron 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：20
页码：85-90
DOI：10.1016/j.ifacol.2019.12.131
语种：English
出版社：Elsevier
摘要：We investigate the performance of linear consensus algorithms subject to a scaling of the underlying network size. Specifically, we model networked systems withnthorder integrator dynamics over families of undirected, weighted graphs with bounded nodal degrees. In such networks, the algebraic connectivity affects convergence rates, sensitivity, and, for high-order consensus [n≥ 3), stability properties. This connectivity scales unfavorably in network size, except in expander families, where consensus performs well regardless of network size. We show, however, that consensus over expander families isfragileto a grounding of the network (resulting in leader-follower consensus). We show that grounding may deteriorate system performance by orders of magnitude in large networks, or cause instability in high-order consensus. Our results, which we illustrate through simulations, also point to a fundamental limitation to the scalability of consensus networks with leaders, which does not apply to leaderless networks.
关键词：KeywordsDistributed controlLarge-scale systemsRobustness