An analytic framework for decentralized extremum seeking control

Author

Kvaternik, Karla ; Pavel, Lacra

Author_Institution

Edward S. Rogers Dept. of Electr. & Comput. Eng., Univ. of Toronto, Toronto, ON, Canada

fYear

2012

fDate

27-29 June 2012

Firstpage

3371

Lastpage

3376

Abstract

We introduce a general analytic framework for decentralized extremum-seeking control schemes involving N dynamic agents. The agents cooperate in achieving a coordination objective which is abstracted as a collective optimization problem. Each agent has access only to the measurements of its individual objective function values, and may communicate with neighboring agents. We provide a set of sufficient conditions under which such schemes exhibit semi-global practical asymptotic stability with respect to an equilibrium point which is parameterized by the collective optimizer.

Keywords

asymptotic stability; decentralised control; multi-agent systems; optimal control; optimisation; collective optimization problem; collective optimizer; coordination objective; decentralized extremum seeking control; dynamic agent; general analytic framework; semiglobal practical asymptotic stability; Algorithm design and analysis; Asymptotic stability; Cost function; Heuristic algorithms; Transient analysis; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2012

Conference_Location

Montreal, QC

ISSN

0743-1619

Print_ISBN

978-1-4577-1095-7

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2012.6315598

Filename

6315598