Multiagent Distributed Source Seeking Under Globally Coupled Constraints: Algorithms and Experiments
The distributed source seeking complication for nonlinear multiagent systems subject to globally coupled constraints is investigated in this article. By the local optimization function measurement, the main objective is to drive all agents' output signals to the optimal value point of a coheren...
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| Vydáno v: | IEEE internet of things journal Ročník 11; číslo 23; s. 38936 - 38949 |
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| Médium: | Journal Article |
| Jazyk: | angličtina |
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Piscataway
IEEE
01.12.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
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| ISSN: | 2327-4662, 2327-4662 |
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| Abstract | The distributed source seeking complication for nonlinear multiagent systems subject to globally coupled constraints is investigated in this article. By the local optimization function measurement, the main objective is to drive all agents' output signals to the optimal value point of a coherent global optimization function with globally coupled constraints. To attain this purpose, projection-operators-based distributed optimal coordinators and reference-tracking controllers are constructed separately. Through the actual outputs of the agents, the distributed optimal coordinators generate the desired output to converge the optimal value point to the local optimization functions satisfying these constraints. In contrast, the reference-tracking controllers are proposed to drive all agents' output signals to track the optimal value point. The singular perturbation approach is applied for the interconnection feature and the system stability analysis. It is demonstrated that the distributed source-seeking problem for nonlinear multiagent systems with globally coupled constraints can be solved. In the end, experimental results on the four-wheeled omni-directional mobile robots platform demonstrate the efficacy and superiority of the proposed technique. |
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| AbstractList | The distributed source seeking complication for nonlinear multiagent systems subject to globally coupled constraints is investigated in this article. By the local optimization function measurement, the main objective is to drive all agents' output signals to the optimal value point of a coherent global optimization function with globally coupled constraints. To attain this purpose, projection-operators-based distributed optimal coordinators and reference-tracking controllers are constructed separately. Through the actual outputs of the agents, the distributed optimal coordinators generate the desired output to converge the optimal value point to the local optimization functions satisfying these constraints. In contrast, the reference-tracking controllers are proposed to drive all agents' output signals to track the optimal value point. The singular perturbation approach is applied for the interconnection feature and the system stability analysis. It is demonstrated that the distributed source-seeking problem for nonlinear multiagent systems with globally coupled constraints can be solved. In the end, experimental results on the four-wheeled omni-directional mobile robots platform demonstrate the efficacy and superiority of the proposed technique. |
| Author | Li, Hua Ahn, Choon Ki Jin, Zhenghong |
| Author_xml | – sequence: 1 givenname: Zhenghong surname: Jin fullname: Jin, Zhenghong email: zhijin_neu@163.com organization: College of Control Science and Engineering, Zhejiang University, Hangzhou, China – sequence: 2 givenname: Hua orcidid: 0000-0002-4710-2093 surname: Li fullname: Li, Hua email: li_hua611@yonsei.ac.kr organization: Department of Industrial Engineering, Yonsei University, Seoul, South Korea – sequence: 3 givenname: Choon Ki orcidid: 0000-0003-0993-9658 surname: Ahn fullname: Ahn, Choon Ki email: hironaka@korea.ac.kr organization: School of Electrical Engineering, Korea University, Seoul, South Korea |
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| SubjectTerms | Algorithms Constraints Controllers Convex functions Distributed source seeking Global optimization globally coupled constraints Internet of Things Local optimization Multi-agent systems Multiagent systems nonlinear multiagent system Nonlinear systems Operators (mathematics) Optimization Singular perturbation singular perturbation approach Stability analysis Systems stability Topology Tracking unmanned vehicles Vectors |
| Title | Multiagent Distributed Source Seeking Under Globally Coupled Constraints: Algorithms and Experiments |
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