An improved consensus algorithm for MAS with directed topology and binary-valued communication

Abstract

This paper investigates the consensus of a multiagent system (MAS) under binary-valued communication with directed topology. An improved two-time-scale algorithm that alternates between control and estimation is proposed. Compared with the existing two-time-scale algorithm for the undirected topology case, we relax the conditions on the algorithm parameters, thereby providing more choices for practical implementations. The asymptotic property of the algorithm is analyzed by analyzing the convergence of the explicit closed-loop solution. To reduce the effect of binary communication on the consensus value for a single-sample path, the selection method for obtaining suitable parameters is given. To demonstrate their effectiveness, the selection method and algorithm are applied to the reputation management of a public welfare platform.