Distributed Consensus Control Under Asymmetrical Communication Delays

The patent applies preliminary action by having each control unit preemptively compensate for asymmetrical communication delays before they affect consensus convergence. The control unit calculates delay compensation values based on predetermined delay characteristics and applies these compensations to state index values before exchanging them with adjacent control units. This proactive approach prevents convergence instability without requiring complex real-time adjustments during the consensus process.

The patent implements feedback mechanisms where control units monitor the actual communication delays between themselves and adjacent control units, then use this feedback information to adjust their delay compensation strategies. The control unit compares expected delays with actual delays and modifies its state index value adjustments accordingly, creating a closed-loop system that maintains convergence stability under varying communication conditions.

The patent applies parameter changes by dynamically adjusting the timing and values of state index exchanges between control units. Each control unit modifies its state index value by adding delay compensation amounts that are calculated based on the specific asymmetrical delay characteristics of its communication links. This parameter adjustment ensures that the consensus value accurately reflects the average of initial state index values despite varying communication delays.

The patent explicitly addresses asymmetry by designing the delay compensation mechanism to handle different delay values in opposite communication directions. Instead of assuming symmetrical delays, the system calculates and applies separate compensation values for each directional link, thereby correcting the consensus value to match the true average of initial state index values even when communication delays are highly asymmetrical.

The patent applies preliminary action by pre-calculating delay compensation values based on measured or estimated communication delay characteristics before the consensus process begins. Each control unit stores these compensation values and applies them automatically when exchanging state index values with adjacent units, thereby accelerating convergence without requiring complex real-time calculations during the consensus iterations.

The patent implements self-service by enabling each control unit to independently calculate and apply its own delay compensations based on its local observations of communication delays. Each control unit monitors its own communication links, determines its specific delay characteristics, and autonomously adjusts its state index value exchanges accordingly, eliminating the need for centralized coordination and simplifying the overall control logic while improving convergence performance.