Effect of nonuniform varying delay on the rate of convergence in averaging-based consensus

Authors

ONUR CİHAN
MEHMET AKAR

Abstract

This paper discusses the effect of nonuniform varying communication delay on distributed consensus algorithms in discrete time. After introducing the delayed mathematical model, we first investigate the ergodicity of the delayed system using the properties of scrambling matrices. Subsequently, the effect of nonuniform varying delay on convergence is examined. It is shown theoretically that nonuniform delay is not detrimental to the convergence rate of the algorithm for directed acyclic graphs. The results are also illustrated with several numerical examples.

DOI

10.3906/elk-1306-8

Keywords

Consensus, distributed control, networks with time delays

First Page

1069

Last Page

1080

Recommended Citation

CİHAN, ONUR and AKAR, MEHMET (2015) "Effect of nonuniform varying delay on the rate of convergence in averaging-based consensus," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 23: No. 4, Article 11. https://doi.org/10.3906/elk-1306-8
Available at: https://journals.tubitak.gov.tr/elektrik/vol23/iss4/11