Optimizing Pinned Nodes to Maximize the Convergence Rate of Multiagent Systems with Digraph Topologies

Algorithm 2

Searching for the pinned node set that maximizes .

Input:

the Laplacian matrix , the pinning strength , the cardinality of pinned node set ,

the generation number , the population size

Output: the pinned node set ,

1: initialize and individuals , as vectors by

randomly choosing integers from , where is the network size

2: for    do

3: mutation step: generate a mutated vector for each individual ,

4: crossover step: generate a trial vector for each individual ,

5: selection step: Let if , otherwise ,

.

6: end for

7: set

8: return  ,