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Distributed constrained optimal consensus of multi-agent systems
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DOI：10.1016/j.automatica.2016.01.055.png)
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We study a distributed optimal consensus problem of continuous-time multi-agent systems with a common state set constraint. Each agent is assigned with an individual cost function which is coercive and convex. A distributed control protocol is to be designed to guarantee a consensus, and in the meanwhile reach the minimizer of the aggregate cost functions within the constraint set. Three terms are included in the protocol: local averaging, local projection, and local subgradient with a diminishing but persistent gain. It is shown that the constrained optimal consensus can be achieved under a uniformly jointly connected communication network with bounded time-varying edge weights. (C) 2016 Elsevier Ltd. All rights reserved.
Keywords:
Multi-agent systems
Optimal consensus
Set constraint
Convex analysis
Non-smooth analysis
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