Distributed optimal consensus of multiple double integrators under bounded velocity and acceleration

Control Theory and Technology - Tập 17 - Trang 85-98 - 2019
Zhirong Qiu1, Lihua Xie1, Yiguang Hong2
1School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, Singapore
2Key Laboratory of Systems and Control, Institute of Systems Science, Chinese Academy of Sciences, Beijing, China

Tóm tắt

This paper studies a distributed optimal consensus problem for multiple double integrators under bounded velocity and acceleration. Assigned with an individual and private convex cost which is dependent on the position, each agent needs to achieve consensus at the optimum of the aggregate cost under bounded velocity and acceleration. Based on relative positions and velocities to neighbor agents, we design a distributed control law by including the integration feedback of position and velocity errors. By employing quadratic Lyapunov functions, we solve the optimal consensus problem of double-integrators when the fixed topology is strongly connected and weight-balanced. Furthermore, if an initial estimate of the optimum can be known, then control gains can be properly selected to achieve an exponentially fast convergence under bounded velocity and acceleration. The result still holds when the relative velocity is not available, and we also discuss an extension for heterogeneous Euler-Lagrange systems by inverse dynamics control. A numeric example is provided to illustrate the result.

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Thông tin xuất bản

Control Theory and Technology

Tập 17

85-98

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