Optimal output consensus for linear systems: a topology free approach
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Publication:273995
DOI10.1016/J.AUTOMATICA.2016.02.003zbMATH Open1334.93021arXiv1510.04335OpenAlexW2268389439MaRDI QIDQ273995FDOQ273995
Authors: Johan Thunberg, Xiaoming Hu 
Publication date: 22 April 2016
Published in: Automatica (Search for Journal in Brave)
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.
Full work available at URL: https://arxiv.org/abs/1510.04335
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Agent technology and artificial intelligence (68T42) Decentralized systems (93A14) Feedback control (93B52) Applications of graph theory to circuits and networks (94C15)
Cites Work
- Finite-Time Consensus Problems for Networks of Dynamic Agents
- Output Consensus of Heterogeneous Uncertain Linear Multi-Agent Systems
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- Output consensus analysis and design for high-order linear swarm systems: partial stability method
- Optimal consensus algorithms for cooperative team of agents subject to partial information
- Optimal output consensus for linear systems: a topology free approach
- Output consensus for high-order linear time-invariant swarm systems
Cited In (8)
- Consensus control for a class of linear multiagent systems using a distributed integral sliding mode strategy
- Optimal output consensus for linear systems: a topology free approach
- Consensus control of linear systems with optimal performance on directed topologies
- Optimal finite-time consensus on fixed and periodic graphs
- Neural‐network‐based constrained optimal coordination for heterogeneous uncertain nonlinear multi‐agent systems
- Optimal consensus for uncertain high‐order multi‐agent systems by output feedback
- 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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