Open AccessDistributed coordination for a class of non‐linear multi‐agent systems with regulation constraints
Author(s) -
Tang Yutao,
Yi Peng
Publication year - 2018
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2017.0893
Subject(s) - constraint (computer aided design) , computer science , class (philosophy) , control theory (sociology) , passivity , state (computer science) , mathematical optimization , linear system , multi agent system , signal (programming language) , function (biology) , control (management) , mathematics , algorithm , engineering , artificial intelligence , mathematical analysis , geometry , evolutionary biology , electrical engineering , biology , programming language
In this study, a multi‐agent coordination problem with steady‐state regulation constraints is investigated for a class of non‐linear systems. Unlike the existing leader‐following coordination formulations, a reference signal is not given by a dynamic autonomous leader but determined as the optimal solution of a distributed optimisation problem. Furthermore, the authors consider a global constraint having noisy data observations for the optimisation problem, which implies that the reference signal is not trivially available with the existing optimisation algorithms. To handle these challenges, the authors present a passivity‐based analysis and design approach by using only local objective function, local data observation and exchanged information from their neighbours. The proposed distributed algorithms are shown to achieve the optimal steady‐state regulation by rejecting the unknown observation disturbances for passive non‐linear agents, which are persuasive in various practical problems. Applications and simulation examples are then given to verify the effectiveness of the proposed design.