Abstract
In this paper, we consider the global optimal consensus problem for discrete-time multi-agent systems with bounded control protocols over a fixed and directed communication network. Each agent is described by a discrete-time single integrator and endowed with a quadratic objective function which is private to itself. For each agent, we develop two bounded distributed protocols: bounded proportional–integral (PI) protocol and bounded integral (I) protocol, based on the information received from its neighboring agents through the communication network and the gradient of its own objective function. We show that the proposed bounded distributed protocols with properly chosen parameters solve the global optimal consensus problem, i.e., the multi-agent system achieves consensus at a state that minimizes the sum of the objective functions, if the directed communication network is strongly connected and detailed balanced.
| Original language | English |
|---|---|
| Pages (from-to) | 182-185 |
| Number of pages | 4 |
| Journal | Automatica |
| Volume | 97 |
| DOIs | |
| State | Published - Nov 2018 |
| Externally published | Yes |
Funding
The work of Y. Wan has been supported in part by NSFCAREER 1714519, United States and NSFCPS 1714826, United States. The work of H. Wang has been supported in part by the Smart-Mobility EEMS Program of the Vehicle Technologies Office, US Department of Energy. The work of Z. Lin has been supported in part by the US Army Research Office under grant W911NF-17-1-0535. The material in this paper was not presented at any conference. This paper was recommended for publication in revised form by Associate Editor Bert Tanner under the direction of Editor André L. Tits.
| Funders | Funder number |
|---|---|
| Army Research Office | W911NF-17-1-0535 |
| National Stroke Foundation | CPS 1714826, CAREER 1714519 |
Keywords
- Bounded PI distributed protocol
- Consensus
- Distributed optimization
- Multi-agent systems
- Optimal consensus
- Saturation