Optimal output consensus for linear systems: a topology free approach

DOI10.1016/J.AUTOMATICA.2016.02.003MaRDI QIDQ273995zbMATH OpenOpenAlexFDO

Authors Johan Thunberg, Xiaoming Hu

Publication date 22 April 2016

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1510.04335

zbMATH Keywords

multi-agent systemsoptimal controlconsensus controlnetwork topologiestime-invariant

Mathematics Subject Classification ID

Agent technology and artificial intelligence (68T42) Decentralized systems (93A14) Feedback control (93B52) Applications of graph theory to circuits and networks (94C15)

Abstract: In this paper, for any homogeneous system of agents with linear continuous time dynamics, we formulate an optimal control problem. In this problem a convex cost functional of the control signals of the agents shall be minimized, while the outputs of the agents shall coincide at some given finite time. This is an instance of the rendezvous or finite time consensus problem. We solve this problem without any constraints on the communication topology and provide a solution as an explicit feedback control law for the case when the dynamics of the agents is output controllable. It turns out that the communication graph topology induced by the solution is complete. Based on this solution for the finite time consensus problem, we provide a solution to the case of infinite time horizon. Furthermore, we investigate under what circumstances it is possible to express the controller as a feedback control law of the output instead of the states.

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Cites work

• scientific article; zbMATH DE number 3281211 (Why is no real title available?)
• Finite-Time Consensus Problems for Networks of Dynamic Agents
• Optimal consensus algorithms for cooperative team of agents subject to partial information
• Optimal output consensus for linear systems: a topology free approach
• Output Consensus of Heterogeneous Uncertain Linear Multi-Agent Systems
• Output consensus analysis and design for high-order linear swarm systems: partial stability method
• Output consensus for high-order linear time-invariant swarm systems

Cited in

(8)

• Optimal consensus for uncertain high‐order multi‐agent systems by output feedback
• Optimal output consensus for linear systems: a topology free approach
• Neural‐network‐based constrained optimal coordination for heterogeneous uncertain nonlinear multi‐agent systems
• Optimal finite-time consensus on fixed and periodic graphs
• Consensus control for a class of linear multiagent systems using a distributed integral sliding mode strategy
• Consensus control of linear systems with optimal performance on directed topologies
• Consensus control for linear systems with optimal energy cost
• Structured optimal feedback in multi-agent systems: a static output feedback perspective

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