基于有向通信拓扑的高阶分布式一致性算法

为了提高有向通信拓扑下分布式一致性算法的收敛速度，提出了一种基于有向通信拓扑的高阶分布式一致性算法。该算法通过有向单跳通信，利用有向二跳邻接节点的前多步信息提高分布式一致性算法的收敛速度。对有向通信拓扑下该算法的收敛性能和收敛速度进行了分析和仿真比较。结果显示，该算法在满足一定条件下能收敛到初始状态的平均值，与其他同样利用二跳邻接节点信息的一致性算法相比，具有通信量小、收敛速度更快的特点，但是能容忍的最大通信延时变小。

High-order distributed consensus algorithm under directed communication topology

In order to improve the convergence rate of distributed consensus algorithms under directed communication topologies, a high-order distributed consensus algorithm was proposed. Under directed topologies, the previous state values of two-hop adjacency nodes were utilized to improve the convergence rate based on single-hop communication. The performance and convergence rate of the high-order distributed consensus algorithm were analyzed under directed networks. The simulation results were provided to verify these analytical results. The results show that an average consensus can be reached under certain conditions, the convergence rate of the high-order algorithm is superior to the other algorithms utilizing the information of two-hop adjacency nodes, but the high-order algorithm can tolerate smaller communication time-delays than the other algorithms utilizing the information of two-hop adjacency nodes.