期刊
AUTOMATICA
卷 68, 期 -, 页码 209-215出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2016.01.055
关键词
Multi-agent systems; Optimal consensus; Set constraint; Convex analysis; Non-smooth analysis
资金
- Republic of Singapore National Research Foundation [NRF-CRP8-2011-3, NRF2013EWT-EIRP004-012]
- National Natural Science Foundation of China (NSFC) [61120106011, 61304045, 61573220]
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.
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