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arXiv · 2302.01021

Faster Consensus via a Sparser Controller

Luca Ballotta·Vijay Gupta
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Abstract

In this paper, we investigate the architecture of an optimal controller that maximizes the convergence speed 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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Luca Ballotta, Vijay Gupta. 2023-02-02. Faster Consensus via a Sparser Controller. https://doi.org/10.1109/lcsys.2023.3268005

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