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Optimal energy consensus control for linear multi-agent systems
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2017 (English)In: 2017 36th Chinese Control Conference, CCC, IEEE Computer Society, 2017, p. 2663-2668, article id 8027765Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, an optimal energy cost controller for linear multi-agent systems' consensus is proposed. It is assumed that the topology among the agents is fixed and the agents are connected through an edge-weighted graph. The controller only uses relative information between agents. Due to the difficulty of finding the controller gain, we focus on finding the optimal controller among a sub-family whose design is based on Algebraic Riccati Equation (ARE) and guarantee consensus. It is found that the energy cost for such controllers is bounded by an interval and hence we minimize the upper bound. To do that, the control gain and the edge weights are optimized separately. The control gain is optimized by choosing Q = 0 in the ARE; the edge weights are optimized under the assumption that there is limited communication resources in the network. Negative edge weights are allowed, and the problem is formulated as a Semi-definite Programming (SDP) problem. The controller coincides with the optimal control in [8] when the graph is complete. Furthermore, two sufficient conditions for the existence of negative optimal edge weights realization are given.

Place, publisher, year, edition, pages
IEEE Computer Society, 2017. p. 2663-2668, article id 8027765
Series
Chinese Control Conference, CCC, ISSN 1934-1768
Keywords [en]
Consensus Control, Multi-Agent Systems, Optimal Control, Semi-definite Programming, Synchronizability
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-217583DOI: 10.23919/ChiCC.2017.8027765ISI: 000432014403065Scopus ID: 2-s2.0-85032191076ISBN: 9789881563934 OAI: oai:DiVA.org:kth-217583DiVA, id: diva2:1157155
Conference
36th Chinese Control Conference, CCC 2017, Dalian, China, 26 July 2017 through 28 July 2017
Note

QC 20171115

Available from: 2017-11-15 Created: 2017-11-15 Last updated: 2018-06-19Bibliographically approved

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CiteExportLink to record
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  • apa
  • harvard1
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  • de-DE
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