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Proportional Dynamic Consensus in Open Multi-Agent Systems

Abstract : In this paper we investigate a dynamic consensus problem for an open multi-agent system. Open multi-agent systems are characterized by a time-varying set of agents connected by a network: agents may leave and new agents may join the network at any time, thus the term “open”. The dynamic consensus problem consists in achieving agreement about the time-varying average of a set of reference signals that are assumed to be the agents’ inputs. Dynamic consensus has recently found application in the context of distributed estimation for electric demand-side management, where a large population of connected domestic appliances needs to estimate its future average power consumption. Since the considered network of devices changes as new appliances log in and out, there is a need to develop and characterize dynamic consensus algorithms for these open scenarios. In this paper we give several initial contributions both to a general theory of open multi-agent systems and to the specific problem of dynamic consensus within this context. On the theoretical side, we propose a formal definition of open multi-agent system, a suitable notion of stability, and some sufficient conditions to establish it. On the applied side, we design a novel dynamic consensus algorithm, the Open Proportional Dynamic Consensus algorithm. We characterize some of its convergence properties in the proposed open-multi-agent systems framework and we illustrate its evolution by numerical simulations.
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Contributor : Paolo Frasca <>
Submitted on : Wednesday, December 5, 2018 - 3:36:53 PM
Last modification on : Wednesday, May 13, 2020 - 4:16:01 PM
Document(s) archivé(s) le : Wednesday, March 6, 2019 - 2:49:22 PM


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Mauro Franceschelli, Paolo Frasca. Proportional Dynamic Consensus in Open Multi-Agent Systems. 57th IEEE Conference on Decision and Control (CDC 2018), Dec 2018, Miami, FL, United States. pp.900-905, ⟨10.1109/CDC.2018.8619639⟩. ⟨hal-01945840⟩



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