Optimal output consensus control for systems of agents with continuous linear dynamics
(2011) In IFAC Proceedings Volumes (IFAC-PapersOnline) 44(1 PART 1). p.10050-10055- Abstract
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... (More)
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.
(Less)
- author
- Thunberg, Johan LU and Hu, Xiaoming
- publishing date
- 2011
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Consensus control, Multi-agent systems, Optimal control
- host publication
- Proceedings of the 18th IFAC World Congress
- series title
- IFAC Proceedings Volumes (IFAC-PapersOnline)
- volume
- 44
- issue
- 1 PART 1
- pages
- 6 pages
- publisher
- IFAC Secretariat
- external identifiers
-
- scopus:84866772471
- ISSN
- 1474-6670
- ISBN
- 9783902661937
- DOI
- 10.3182/20110828-6-IT-1002.01111
- language
- English
- LU publication?
- no
- id
- 78b2058d-1c35-4475-894a-46fa3eb3d756
- date added to LUP
- 2024-09-05 12:48:27
- date last changed
- 2024-09-23 15:15:53
@inproceedings{78b2058d-1c35-4475-894a-46fa3eb3d756,
abstract = {{<p>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.</p>}},
author = {{Thunberg, Johan and Hu, Xiaoming}},
booktitle = {{Proceedings of the 18th IFAC World Congress}},
isbn = {{9783902661937}},
issn = {{1474-6670}},
keywords = {{Consensus control; Multi-agent systems; Optimal control}},
language = {{eng}},
number = {{1 PART 1}},
pages = {{10050--10055}},
publisher = {{IFAC Secretariat}},
series = {{IFAC Proceedings Volumes (IFAC-PapersOnline)}},
title = {{Optimal output consensus control for systems of agents with continuous linear dynamics}},
url = {{http://dx.doi.org/10.3182/20110828-6-IT-1002.01111}},
doi = {{10.3182/20110828-6-IT-1002.01111}},
volume = {{44}},
year = {{2011}},
}