Multi-agent systems reaching optimal consensus with directed communication graphs

Author

Guodong Shi ; Johansson, Karl H. ; Yiguang Hong

Author_Institution

ACCESS Linnaeus Centre, R. Inst. of Technol., Stockholm, Sweden

fYear

2011

fDate

June 29 2011-July 1 2011

Firstpage

5456

Lastpage

5461

Abstract

In this paper, we investigate an optimal consensus problem for multi-agent systems with directed interconnection topologies. Based on a nonlinear distributed coordination rule with switching directed communicating graphs, the considered multi-agent system achieves not only a consensus, but also an optimal one by agreeing within the global solution set of a sum of objective functions corresponding to multiple agents. The optimal solution set convergence and consensus analysis are given respectively with the help of convex analysis and nonsmooth analysis.

Keywords

convex programming; directed graphs; multi-robot systems; nonlinear control systems; optimal control; set theory; topology; consensus analysis; convex analysis; directed communication graphs; directed interconnection topology; multiagent systems; multiple agents; nonlinear distributed coordination rule; nonsmooth analysis; objective functions; optimal consensus problem; optimal solution set convergence; switching directed communicating graphs; Convergence; Convex functions; Multiagent systems; Optimization; Silicon; Switches; Topology; Multi-agent systems; consensus; directed graph; distributed optimization;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2011

Conference_Location

San Francisco, CA

ISSN

0743-1619

Print_ISBN

978-1-4577-0080-4

Type

conf

DOI

10.1109/ACC.2011.5991292

Filename

5991292