Reference : Optimal output consensus control for systems of agents with continuous linear dynamics
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Multidisciplinary, general & others
http://hdl.handle.net/10993/20685
Optimal output consensus control for systems of agents with continuous linear dynamics
English
Thunberg, Johan mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
Hu, X. []
2011
Proceedings of 18th IFAC World Congress
10050-10055
Yes
18th IFAC World Congress
August 28 - September 2, 2011
Milano
Italy
[en] Consensus control ; Multi-agent systems ; Optimal control
[en] In this paper we study the output consensus problem for systems of agents with linear
continuous, time invariant dynamics. We derive control laws with minimal energy that solves
the problem, while using only relative information. Instead of considering a fixed communication
topology for the agents, and derive the optimal control for that topology, we derive the optimal
control law for any communication topology between the agents. We show that the optimal
control uses only relative information but requires the connectivity graph to be complete and
in general requires measurements of the state errors. We identify the cases where the optimal
control is only based on output errors, and show that in the infinite time horizon case, the
optimal controller can always be expressed as a dynamic controller that is only based on the
output errors. Regarding the theoretic contributions of this paper, the control laws are derived
using methods from linear vector space optimization and are given in closed form. To the authors knowledge these methods have not been used within this context before.
http://hdl.handle.net/10993/20685

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