Title :
Optimal synthesis for finite-time consensus under fixed graphs
Author :
Ghosh, Supratim ; Lee, Ji-Woong
Author_Institution :
Dept. of Electr. Eng., Pennsylvania State Univ., University Park, PA, USA
Abstract :
Synthesis of optimal controllers achieving finite-time consensus for a network of multiple agents described by a fixed connectivity graph is considered. The solution procedure involves posing a partially nested decentralized control problem and converting it to a constrained convex optimization problem invoking quadratic invariance. The dynamic feedback controller thus synthesized optimizes a transient performance measure and guarantees consensus within a minimal number of steps.
Keywords :
constraint theory; control system synthesis; convex programming; decentralised control; feedback; multi-agent systems; network theory (graphs); optimal control; constrained convex optimization; decentralized control problem; dynamic feedback controller; finite-time consensus; fixed connectivity graph; multiple agents network; optimal controller synthesis; quadratic invariance; transient performance; Adaptive control; Lead; Network topology; State-space methods; Topology; Transient analysis; Vectors;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6160474
