Ergodicity of Continuous-Time Distributed Averaging Dynamics: A Spanning Directed Rooted Tree Approach

• 成果类型: Article
• 署名作者: Aghajan, Adel; Touri, Behrouz
• 署名单位: University of California System; University of California San Diego
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3085854
• 发表日期: 2022
• 页码: 918-925
• 关键词: CONSENSUS; distributed computing; networked control systems

摘要

In this article, we consider time-varying distributed averaging dynamics. Motivated by a necessary condition on the ergodicity, we provide a sufficient condition for the ergodicity of such dynamics. We show that if groups of agents are connected using a directed acyclic graph containing a spanning directed rooted tree and the averaging dynamics restricted to each group is P*, then the dynamics over the whole network is ergodic. In particular, this provides a general condition for convergence of consensus dynamics where groups of agents capable of reaching consensus follow each other on a time-varying network.