Optimal output consensus control for systems of agents with continuous linear dynamics

Thunberg, Johan; Hu, X.

Reference : Optimal output consensus control for systems of agents with continuous linear dynamics


	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Multidisciplinary, general & others
	To cite this reference:	http://hdl.handle.net/10993/20685

Title :	Optimal output consensus control for systems of agents with continuous linear dynamics
Language :	English
Author, co-author :	Thunberg, Johan [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >]
	Hu, X. []
Publication date :	2011
Main document title :	Proceedings of 18th IFAC World Congress
Pages :	10050-10055
Peer reviewed :	Yes
Event name :	18th IFAC World Congress
Event date :	August 28 - September 2, 2011
Event place (city) :	Milano
Event country :	Italy
Keywords :	[en] Consensus control ; Multi-agent systems ; Optimal control
Abstract :	[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.
Permalink :	http://hdl.handle.net/10993/20685

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