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Distributed Convex Optimization for Flocking of Nonlinear Multi-agent Systems
Qing Zhang,Zhikun Gong,Zhengquan Yang,Zengqiang Chen 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.5
A distributed optimization problem with differentiable convex objective function is discussed forcontinuous-time multi-agent systems with flocking behavior of a nonlinear continuous function. The goal of thispaper is to design a controller by using only local interaction information, thus making velocities of all agents be thesame. Then the stability of the multi-agent systems is proved and the velocities converge to the value minimizingthe sum of local objective functions. Moreover, the paper got some sufficient conditions for the consensus and theoptimization. Finally, a numerical case is used to verify the analytical results.