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On decentralized negotiation of optimal consensus
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
2008 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 44, no 4, 1175-1179 p.Article in journal (Refereed) Published
Abstract [en]

A consensus problem consists of finding a distributed control strategy that brings the state or output of a group of agents to a common value, a consensus point. In this paper, we propose a negotiation algorithm that computes an optimal consensus point for agents modeled as linear control systems subject to convex input constraints and linear state constraints. By primal decomposition and incremental subgradient methods, it is shown that the algorithm can be implemented such that each agent exchanges only a small amount of information per iteration with its neighbors.

Place, publisher, year, edition, pages
2008. Vol. 44, no 4, 1175-1179 p.
Keyword [en]
consensus, optimal trajectory planning, decentralized optimization, model predictive control, convex optimization, receding horizon control, systems
Identifiers
URN: urn:nbn:se:kth:diva-17471DOI: 10.1016/j.automatica.2007.09.003ISI: 000255218700034Scopus ID: 2-s2.0-41049092070OAI: oai:DiVA.org:kth-17471DiVA: diva2:335515
Note
QC 20100525Available from: 2010-08-05 Created: 2010-08-05 Last updated: 2017-12-12Bibliographically approved

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Johansson, Karl H.

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
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  • vancouver
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Language
  • de-DE
  • en-GB
  • en-US
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Output format
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