Optimal output consensus control for systems of agents with continuous linear dynamics
2011 (English)In: IFAC Proc. Vol. (IFAC-PapersOnline), 2011, no PART 1, 10050-10055 p.Conference paper (Refereed)
In this paper we study the output consensus problem for systems of agents with linear continuous, time invariant dynamics. We derive control laws with minimal energy that solves the problem, while using only relative information. Instead of considering a fixed communication topology for the agents, and derive the optimal control for that topology, we derive the optimal control law for any communication topology between the agents. We show that the optimal control uses only relative information but requires the connectivity graph to be complete and in general requires measurements of the state errors. We identify the cases where the optimal control is only based on output errors, and show that in the infinite time horizon case, the optimal controller can always be expressed as a dynamic controller that is only based on the output errors. Regarding the theoretic contributions of this paper, the control laws are derived using methods from linear vector space optimization and are given in closed form. To the authors knowledge these methods have not been used within this context before.
Place, publisher, year, edition, pages
2011. no PART 1, 10050-10055 p.
, IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 1474-6670 ; 18
Consensus control, Multi-agent systems, Optimal control, Closed form, Communication topologies, Connectivity graph, Consensus problems, Control laws, Dynamic controller, Infinite time horizon, Linear dynamics, Linear vector space, Minimal energy, Multi agent system (MAS), Optimal control law, Optimal controller, Optimal controls, Output errors, Relative information, State errors, Time invariants, Communication, Control theory, Dynamics, Multi agent systems, Optimization, Topology, Control
IdentifiersURN: urn:nbn:se:kth:diva-150193DOI: 10.3182/20110828-6-IT-1002.01111ScopusID: 2-s2.0-84866772471ISBN: 9783902661937OAI: oai:DiVA.org:kth-150193DiVA: diva2:743881
18th IFAC World Congress, 28 August 2011 through 2 September 2011, Milano, Italy
QC 201409052014-09-052014-09-012014-10-03Bibliographically approved