Article (Scientific journals)
Optimal output consensus for linear systems: a topology free approach
Thunberg, Johan; Hu, Xiaoming
2016In Automatica, 68, p. 352-356
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Keywords :
Consensus control; Multi-agent systems; Optimal control
Abstract :
[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.
Disciplines :
Physical, chemical, mathematical & earth Sciences: Multidisciplinary, general & others
Author, co-author :
Thunberg, Johan ;  University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB)
Hu, Xiaoming
External co-authors :
yes
Language :
English
Title :
Optimal output consensus for linear systems: a topology free approach
Publication date :
2016
Journal title :
Automatica
ISSN :
0005-1098
Publisher :
Pergamon Press - An Imprint of Elsevier Science, Oxford, United Kingdom
Volume :
68
Pages :
352-356
Peer reviewed :
Peer Reviewed verified by ORBi
FnR Project :
FNR8864515 - Set Convergence In Nonlinear Multi-agent Systems, 2014 (01/02/2015-31/01/2017) - Johan Thunberg
Funders :
FNR - Fonds National de la Recherche [LU]
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