This technical note presents a specified-time convergent multiagent system for distributed optimization with a time-varying objective function subject to equality constraints. Different from the static optimal solutio...
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This technical note presents a specified-time convergent multiagent system for distributed optimization with a time-varying objective function subject to equality constraints. Different from the static optimal solutions to most existing distributed optimization problems, the optimal solutions are timevarying due to the time-varying objective function in this problem. A distributed protocol law is designed to ensure all the agents' convergence to feasible and suboptimal solutions within a specified settling time and keep tracking the time-dependent optimal solutions. The specified-time convergence of the system and the asymptotic optimality of the solution generated by the system are proved based on the Lyapunov theory. A salient feature of the multiagent system is that its upper bound of settling time can be specified in advance. Two examples are presented to illustrate the theoretical results.
In this article, a distributed time-varying convex optimization problem for multi-agent systems is studied. The goal of this article is to use only the local information and interaction information of each agent to dr...
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In this article, a distributed time-varying convex optimization problem for multi-agent systems is studied. The goal of this article is to use only the local information and interaction information of each agent to drive all agents to achieve consensus and minimize the time-varying global objectivefunction within a fixed time. In order to solve this problem, a centralized fixed-time algorithm based on predictive correction method is proposed, which can optimize the time-varying global objectivefunction based on global information within a fixed time. Then, based on the distributed average tracking method, the centralized algorithm is improved to a distributed fixed-time algorithm based on local information. The theoretical analysis ensures that the algorithms in this article can solve the time-varying optimization problem in a fixed time, and numerical examples are proposed to verify the effectiveness of algorithms. Finally, the distributed algorithm is applied to solve battery packages problem.
In this paper, we propose a distributed controller for holonomic and nonholonomic multi-robot systems to patrol multiple targets. Distributed control is a control method that uses only information observed by the robo...
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In this paper, we propose a distributed controller for holonomic and nonholonomic multi-robot systems to patrol multiple targets. Distributed control is a control method that uses only information observed by the robot itself and gathered from its surrounding without relying on centralized control. In order for the robots to accomplish their patrols, we propose an objectivefunction that changes switching weights depending on the time when the targets are not observed. As a result, each robot determines which targets to observe based on the time weights and the information from surrounding robots to achieve efficient patrols. We design a distributed controller based on the gradient-flow method for both holonomic and nonholonomic systems. Finally, simulation and experimental results show that the proposed controller is useful for the robots to realize patrolling.
This paper mainly discusses distributed constrained optimization problem for second-order multi-agent system under undirected communication network. The task of all agents is to minimize the sum of the local convex fu...
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This paper mainly discusses distributed constrained optimization problem for second-order multi-agent system under undirected communication network. The task of all agents is to minimize the sum of the local convex functions, where each agent is individual and only accesses to one objectivefunction. Different from the most existing results, where the objectivefunctions are assumed to be time-invariable, this paper considers the situation of time-varying objective function. Besides, we don't require that the Hessian matrices are identical and the gradients are bounded. First, a novel time-varying optimization algorithm is proposed based on the projection algorithm. Second, by using convex analysis and Lyapunov theory, it is shown that the states of all agents can reach consensus and asymptotically converge to the neighborhood of the optimal solution. Finally, some numerical examples are given to verify the effectiveness of our algorithms.
In this article, the consensus, collision avoidance, and distributed convex optimization problems of a class of multi-agent systems with a time-varying objective function are studied. Moreover, the proposed method in ...
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In this article, the consensus, collision avoidance, and distributed convex optimization problems of a class of multi-agent systems with a time-varying objective function are studied. Moreover, the proposed method in this article can reduce the chattering problem of the controller input caused by the sign function. First, the sign function is used to design the controller to improve the convergence rate of the system, on this basis, the optimization item is designed for the more complex time-varying objective function to ensure that the value of the objectivefunction is the smallest when the system achieves the speed consensus. Second, considering the chattering problem caused by the sign function, the designed controller is improved to reduce the chattering phenomenon. Third, two novel Lyapunov functions are constructed to verify the stability of the system and the distributed optimization objective. Due to the controller is designed for the time-varying objective function, moreover, the tasks of the formation and collision avoidance are needed to take into account, therefore, the designed Lyapunov functions in this article are more difficult. Finally, the formation function is designed to ensure that the multi-agent system achieves the desired formation configuration. The simulation results show the correctness of the theoretical design of this article and the superiority in extending the running time of the system.
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