Reaching an Optimal Consensus: Dynamical Systems That Compute Intersections of Convex Sets
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Optimality conditions for problems involving relations other than differential equations (49K21) Agent technology and artificial intelligence (68T42) Convex programming (90C25) Approximation methods and heuristics in mathematical programming (90C59) Decentralized systems (93A14) Feedback control (93B52)
Abstract: In this paper, multi-agent systems minimizing a sum of objective functions, where each component is only known to a particular node, is considered for continuous-time dynamics with time-varying interconnection topologies. Assuming that each node can observe a convex solution set of its optimization component, and the intersection of all such sets is nonempty, the considered optimization problem is converted to an intersection computation problem. By a simple distributed control rule, the considered multi-agent system with continuous-time dynamics achieves not only a consensus, but also an optimal agreement within the optimal solution set of the overall optimization objective. Directed and bidirectional communications are studied, respectively, and connectivity conditions are given to ensure a global optimal consensus. In this way, the corresponding intersection computation problem is solved by the proposed decentralized continuous-time algorithm. We establish several important properties of the distance functions with respect to the global optimal solution set and a class of invariant sets with the help of convex and non-smooth analysis.
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