Distributed Time-Varying Quadratic Optimal Resource Allocation Subject to Nonidentical Time-Varying Hessians With Application to Multiquadrotor Hose Transportation

This article considers the distributed time-varying optimal resource allocation problem with time-varying quadratic cost functions and a time-varying coupled equality constraint for multiagent systems. The objective is to design a distributed algorithm for agents with single-integrator dynamics to c...

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Vydáno v:	IEEE transactions on systems, man, and cybernetics. Systems Ročník 52; číslo 10; s. 6109 - 6119
Hlavní autoři:	Wang, Bo, Sun, Shan, Ren, Wei
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York IEEE 01.10.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:	Algorithms Continuous-time algorithm Cost function distributed control Equality Heuristic algorithms Multiagent systems optimal resource allocation Optimization Quadratic forms Resource allocation Resource management Rotary wing aircraft time-varying system Time-varying systems Trajectory Trajectory optimization Transportation Transportation problem
ISSN:	2168-2216, 2168-2232
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Abstract	This article considers the distributed time-varying optimal resource allocation problem with time-varying quadratic cost functions and a time-varying coupled equality constraint for multiagent systems. The objective is to design a distributed algorithm for agents with single-integrator dynamics to cooperatively satisfy the coupled equality constraint and minimize the sum of all local cost functions. Here, both the coupled equality constraint and cost functions depend explicitly on time. The cost functions are in quadratic form and may have nonidentical time-varying Hessians. To solve the problem in a distributed manner, an estimator based on the distributed average tracking method is first developed for each agent to estimate certain global information. By leveraging the estimated global information and an adaptive gain scheme, a distributed continuous-time algorithm is proposed, which ensures the agents to find and track the time-varying optimal trajectories with vanishing errors. We illustrate the applicability of the proposed method in the optimal hose transportation problem using multiple quadrotors.
AbstractList	This article considers the distributed time-varying optimal resource allocation problem with time-varying quadratic cost functions and a time-varying coupled equality constraint for multiagent systems. The objective is to design a distributed algorithm for agents with single-integrator dynamics to cooperatively satisfy the coupled equality constraint and minimize the sum of all local cost functions. Here, both the coupled equality constraint and cost functions depend explicitly on time. The cost functions are in quadratic form and may have nonidentical time-varying Hessians. To solve the problem in a distributed manner, an estimator based on the distributed average tracking method is first developed for each agent to estimate certain global information. By leveraging the estimated global information and an adaptive gain scheme, a distributed continuous-time algorithm is proposed, which ensures the agents to find and track the time-varying optimal trajectories with vanishing errors. We illustrate the applicability of the proposed method in the optimal hose transportation problem using multiple quadrotors.
Author	Sun, Shan Ren, Wei Wang, Bo
Author_xml	– sequence: 1 givenname: Bo surname: Wang fullname: Wang, Bo email: wangbobit@163.com organization: School of Automation, Beijing Institute of Technology, Beijing, China – sequence: 2 givenname: Shan orcidid: 0000-0003-3750-9559 surname: Sun fullname: Sun, Shan email: ssun029@ucr.edu organization: Department of Electrical and Computer Engineering, University of California at Riverside, Riverside, CA, USA – sequence: 3 givenname: Wei orcidid: 0000-0002-2818-9752 surname: Ren fullname: Ren, Wei email: ren@ee.ucr.edu organization: Department of Electrical and Computer Engineering, University of California at Riverside, Riverside, CA, USA
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SubjectTerms	Algorithms Continuous-time algorithm Cost function distributed control Equality Heuristic algorithms Multiagent systems optimal resource allocation Optimization Quadratic forms Resource allocation Resource management Rotary wing aircraft time-varying system Time-varying systems Trajectory Trajectory optimization Transportation Transportation problem
Title	Distributed Time-Varying Quadratic Optimal Resource Allocation Subject to Nonidentical Time-Varying Hessians With Application to Multiquadrotor Hose Transportation
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