Distributed optimal consensus of multiple double integrators under bounded velocity and acceleration  

作　　者：Zhirong QIU Lihua XIE Yiguang HONG 

机构地区：[1]School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798 [2]Key Laboratory of Systems and Control, Institute of Systems Science, Chinese Academy of Sciences, Beijing 700790, China

出　　处：《Control Theory and Technology》2019年第1期85-98,共14页控制理论与技术（英文版）

摘　　要：This paper studies a distributed optimal consensus problem for multiple double integrators under bounded velocity and acceleration. Assigned with an in dividual and private convex cost which is dependent on the position, each age nt n eeds to achieve consensus at the optimum of the aggregate cost under bounded velocity and acceleration. Based on relative positions and velocities to neighbor agents, we design a distributed control law by including the integration feedback of position and velocity errors. By employing quadratic Lyapunov functions, we solve the optimal consensus problem of double-integrators when the fixed topology is strongly connected and weight-balanced. Furthermore, if an initial estimate of the optimum can be known, then control gains can be properly selected to achieve an exponentially fast convergence under bounded velocity and acceleration. The result still holds when the relative velocity is not available, and we also discuss an extension for heterogeneous Euler-Lagrange systems by in verse dynamics control. A nu meric example is provided to illustrate the result.

关 键 词：DISTRIBUTED optimization DOUBLE INTEGRATORS BOUNDED VELOCITY BOUNDED input 

分 类 号：TP[自动化与计算机技术]