Identification of Hessian matrix in distributed gradient-based multi-agent coordination control systems

DOI10.3934/NACO.2019020zbMATH Open1422.93011arXiv1805.02832OpenAlexW2963072335MaRDI QIDQ2273124FDOQ2273124

Authors: Zhiyong Sun, Toshiharu Sugie 

Publication date: 18 September 2019

Published in: Numerical Algebra, Control and Optimization (Search for Journal in Brave)

Abstract: Multi-agent coordination control usually involves a potential function that encodes information of a global control task, while the control input for individual agents is often designed by a gradient-based control law. The property of Hessian matrix associated with a potential function plays an important role in the stability analysis of equilibrium points in gradient-based coordination control systems. Therefore, the identification of Hessian matrix in gradient-based multi-agent coordination systems becomes a key step in multi-agent equilibrium analysis. However, very often the identification of Hessian matrix via the entry-wise calculation is a very tedious task and can easily introduce calculation errors. In this paper we present some general and fast approaches for the identification of Hessian matrix based on matrix differentials and calculus rules, which can easily derive a compact form of Hessian matrix for multi-agent coordination systems. We also present several examples on Hessian identification for certain typical potential functions involving edge-tension distance functions and triangular-area functions, and illustrate their applications in the context of distributed coordination and formation control.

Full work available at URL: https://arxiv.org/abs/1805.02832

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zbMATH Keywords

Hessian matrixmulti-agent coordinationgradient-based control

Mathematics Subject Classification ID

Agent technology and artificial intelligence (68T42) Decentralized systems (93A14) Control/observation systems governed by partial differential equations (93C20) Special matrices (15B99)

Cited In (2)

• A survey of gradient methods for solving nonlinear optimization
• Controllability of nonlinear fractional evolution systems in Banach spaces: a survey

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