DocumentCode :
574055
Title :
A semistability-based design framework for optimal consensus seeking of multiagent systems in a noisy environment
Author :
Qing Hui
Author_Institution :
Dept. of Mech. Eng., Texas Tech Univ., Lubbock, TX, USA
fYear :
2012
fDate :
27-29 June 2012
Firstpage :
20
Lastpage :
25
Abstract :
This paper addresses semistable stochastic Linear-Quadratic Consensus (LQC) problems motivated by the recently developed Optimal Semistable Control (OSC) and semistable H2 control problems. OSC deals with linear-quadratic optimal semistabilization. In the framework of OSC, the closed-loop system is not asymptotically stable, but semistable. Semistability is the property that every trajectory of the closed-loop system converges to a Lyapunov stable equilibrium point determined by the system initial conditions. Hence, the limiting state of the closed-loop system is not a fixed point a priori, but a continuum of equilibria. In such a sense, OSC can be viewed as an optimal regulation problem with nondeterministic, nonzero set-points. In this paper, we consider stochastic OSC for optimal consensus seeking under white noise and random distribution of initial conditions. We show that the distinct feature of the proposed semistable stochastic LQC problem is the possibility of nonuniqueness of the solutions and hence, cannot be treated by using the methods developed for the classical LQR control theory. We develop a new framework for semistable stochastic LQC and suggest an alternative constrained optimization method to solve it. To this end, necessary and sufficient conditions for semistability and optimal consensus seeking under white noise and random distribution of initial conditions are derived in the paper.
Keywords :
Lyapunov methods; closed loop systems; linear quadratic control; multi-agent systems; multi-robot systems; optimisation; set theory; stability; stochastic systems; white noise; LQC; Lyapunov stable equilibrium point; OSC; closed-loop system; constrained optimization method; linear-quadratic optimal semistabilization; multiagent systems; noisy environment; nondeterministic nonzero set-points; optimal consensus seeking; optimal regulation problem; optimal semistable control; random distribution; semistability-based design framework; semistable H2 control problems; semistable stochastic linear-quadratic consensus problems; system initial conditions; white noise; Closed loop systems; Cost function; Multiagent systems; Output feedback; Protocols; Standards; White noise;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
ISSN :
0743-1619
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
Type :
conf
DOI :
10.1109/ACC.2012.6314638
Filename :
6314638
Link To Document :
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