Distributed constrained optimal consensus of multi-agent systems

• Zhirong Qiu ^[1] ; Shuai Liu ^[1] ; Lihua Xie ^[1]
  1. [1] Nanyang Technological University

     Nanyang Technological University

     Singapur

     
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 68, 2016, págs. 209-215
• Idioma: inglés
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• Resumen

  • We study a distributed optimal consensus problem of continuous-time multi-agent systems with a common state set constraint. Each agent is assigned with an individual cost function which is coercive and convex. A distributed control protocol is to be designed to guarantee a consensus, and in the meanwhile reach the minimizer of the aggregate cost functions within the constraint set. Three terms are included in the protocol: local averaging, local projection, and local subgradient with a diminishing but persistent gain. It is shown that the constrained optimal consensus can be achieved under a uniformly jointly connected communication network with bounded time-varying edge weights.