Reference : Optimal output consensus for linear systems: a topology free approach
Scientific journals : Article
Physical, chemical, mathematical & earth Sciences : Multidisciplinary, general & others
http://hdl.handle.net/10993/27717
Optimal output consensus for linear systems: a topology free approach
English
Thunberg, Johan mailto [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
Hu, Xiaoming mailto []
2016
Automatica
Pergamon Press - An Imprint of Elsevier Science
68
352-356
Yes (verified by ORBilu)
International
0005-1098
Oxford
United Kingdom
[en] Consensus control ; Multi-agent systems ; Optimal control
[en] 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.
Fonds National de la Recherche - FnR
Researchers
http://hdl.handle.net/10993/27717
10.1016/j.automatica.2016.02.003
http://arxiv.org/pdf/1510.04335.pdf
FnR ; FNR8864515 > Johan Thunberg > > Set Convergence in Nonlinear Multi-Agent Systems > 01/02/2015 > 31/01/2017 > 2014

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