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

fYear

2011

fDate

12-15 Dec. 2011

Firstpage

2052

Lastpage

2057

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on

Conference_Location

Orlando, FL

ISSN

0743-1546

Print_ISBN

978-1-61284-800-6

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2011.6160474

Filename

6160474