Distributed optimization for uncertain Euler–Lagrange Systems with local and relative measurements
This paper considers a multi-agent system modeled as a group of Euler–Lagrange systems, and assumes that each agent only has perception of the real-time position-dependent gradient value of a local objective function and its relative position with other agents. Based on a seamless integration of a m...
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| Veröffentlicht in: | Automatica (Oxford) Jg. 139; S. 110113 |
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| Abstract | This paper considers a multi-agent system modeled as a group of Euler–Lagrange systems, and assumes that each agent only has perception of the real-time position-dependent gradient value of a local objective function and its relative position with other agents. Based on a seamless integration of a modified distributed optimization algorithm and a Lyapunov-based nonlinear control design, distributed controllers are developed to exponentially steer the position of each agent to the optimal point of the total objective function. A numerical example of coordinated communication relay is employed to verify the proposed design. |
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| AbstractList | This paper considers a multi-agent system modeled as a group of Euler–Lagrange systems, and assumes that each agent only has perception of the real-time position-dependent gradient value of a local objective function and its relative position with other agents. Based on a seamless integration of a modified distributed optimization algorithm and a Lyapunov-based nonlinear control design, distributed controllers are developed to exponentially steer the position of each agent to the optimal point of the total objective function. A numerical example of coordinated communication relay is employed to verify the proposed design. |
| ArticleNumber | 110113 |
| Author | Jiang, Zhong-Ping Liu, Tengfei Jiang, Liangze Qin, Zhengyan |
| Author_xml | – sequence: 1 givenname: Zhengyan surname: Qin fullname: Qin, Zhengyan email: qinzhengyan163@163.com organization: State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, 110004, China – sequence: 2 givenname: Liangze surname: Jiang fullname: Jiang, Liangze email: zetojiang@163.com organization: State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, 110004, China – sequence: 3 givenname: Tengfei surname: Liu fullname: Liu, Tengfei email: tfliu@mail.neu.edu.cn organization: State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, 110004, China – sequence: 4 givenname: Zhong-Ping surname: Jiang fullname: Jiang, Zhong-Ping email: zjiang@nyu.edu organization: Department of Electrical and Computer Engineering, New York University, Six MetroTech Center, Brooklyn, NY 11201, USA |
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| Cites_doi | 10.1109/TRO.2019.2895509 10.1016/j.automatica.2017.01.004 10.1016/j.automatica.2014.04.029 10.7551/mitpress/9123.003.0027 10.1137/S1052623494279316 10.1109/TAC.1986.1104412 10.1109/JOE.2013.2261331 10.1109/TSG.2020.3012025 10.1016/j.automatica.2015.03.001 10.1109/JPROC.2018.2817461 10.1109/TAC.2020.2996978 10.1016/j.automatica.2020.109060 10.1142/S230138501640001X 10.1016/j.arcontrol.2019.05.006 10.1016/j.automatica.2019.108737 10.1561/2200000016 10.1007/BF01442169 10.1146/annurev-control-060117-105131 |
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| Title | Distributed optimization for uncertain Euler–Lagrange Systems with local and relative measurements |
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