Title :
Multi-agent systems reaching optimal consensus with directed communication graphs
Author :
Guodong Shi ; Johansson, Karl H. ; Yiguang Hong
Author_Institution :
ACCESS Linnaeus Centre, R. Inst. of Technol., Stockholm, Sweden
fDate :
June 29 2011-July 1 2011
Abstract :
In this paper, we investigate an optimal consensus problem for multi-agent systems with directed interconnection topologies. Based on a nonlinear distributed coordination rule with switching directed communicating graphs, the considered multi-agent system achieves not only a consensus, but also an optimal one by agreeing within the global solution set of a sum of objective functions corresponding to multiple agents. The optimal solution set convergence and consensus analysis are given respectively with the help of convex analysis and nonsmooth analysis.
Keywords :
convex programming; directed graphs; multi-robot systems; nonlinear control systems; optimal control; set theory; topology; consensus analysis; convex analysis; directed communication graphs; directed interconnection topology; multiagent systems; multiple agents; nonlinear distributed coordination rule; nonsmooth analysis; objective functions; optimal consensus problem; optimal solution set convergence; switching directed communicating graphs; Convergence; Convex functions; Multiagent systems; Optimization; Silicon; Switches; Topology; Multi-agent systems; consensus; directed graph; distributed optimization;
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4577-0080-4
DOI :
10.1109/ACC.2011.5991292
