Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/151650
Title: Distributed optimal consensus of multiple double integrators under bounded velocity and acceleration
Authors: Qiu, Zhirong
Xie, Lihua
Hong, Yiguang
Keywords: Engineering::Electrical and electronic engineering
Issue Date: 2019
Source: Qiu, Z., Xie, L. & Hong, Y. (2019). Distributed optimal consensus of multiple double integrators under bounded velocity and acceleration. Control Theory and Technology, 17(1), 85-98. https://dx.doi.org/10.1007/s11768-019-8179-5
Journal: Control Theory and Technology
Abstract: This paper studies a distributed optimal consensus problem for multiple double integrators under bounded velocity and acceleration. Assigned with an individual and private convex cost which is dependent on the position, each agent needs to achieve consensus at the optimum of the aggregate cost under bounded velocity and acceleration. Based on relative positions and velocities to neighbor agents, we design a distributed control law by including the integration feedback of position and velocity errors. By employing quadratic Lyapunov functions, we solve the optimal consensus problem of double-integrators when the fixed topology is strongly connected and weight-balanced. Furthermore, if an initial estimate of the optimum can be known, then control gains can be properly selected to achieve an exponentially fast convergence under bounded velocity and acceleration. The result still holds when the relative velocity is not available, and we also discuss an extension for heterogeneous Euler-Lagrange systems by inverse dynamics control. A numeric example is provided to illustrate the result.
URI: https://hdl.handle.net/10356/151650
ISSN: 2095-6983
DOI: 10.1007/s11768-019-8179-5
Rights: © 2019 South China University of Technology, Academy of Mathematics and Systems Science, CAS and Springer-Verlag GmbH Germany, part of Springer Nature. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:EEE Journal Articles

SCOPUSTM   
Citations 20

9
Updated on Jan 29, 2023

Web of ScienceTM
Citations 20

8
Updated on Jan 29, 2023

Page view(s)

143
Updated on Feb 4, 2023

Google ScholarTM

Check

Altmetric


Plumx

Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.