On the Delay Margin for Consensus in Directed Networks of Anticipatory Agents
Date
2016Source Title
IFAC-PapersOnLine
Print ISSN
24058963
Publisher
Elsevier B.V.
Volume
49
Issue
10
Pages
206 - 211
Language
English
Type
ArticleItem Usage Stats
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Abstract
We consider a linear consensus problem involving a time delay that arises from predicting the future states of agents based on their past history. In case the agents are coupled in a connected and undirected network, the exact condition for consensus is that the delay be less than a constant threshold that is independent of the network topology or size. In directed networks, however, the situation is quite different. We show that the allowable maximum delay for consensus depends on the network topology in a nontrivial way. We study this delay margin in several network constellations, including various circulant networks with directed links. We show that the delay margin depends not only on the number of neighbors, but also on the directionality of connections with those neighbors. Furthermore, the delay margin improves as the circulant networks are rewired en route to a small-world configuration. © 2016
Keywords
anticipationConsensus
delay
graph theory
network
prediction
stability analysis
Forecasting
Graph theory
Networks (circuits)
Time delay
anticipation
Anticipatory agents
Consensus
Consensus problems
Constant threshold
delay
Stability analysis
Undirected network
Topology