TY - GEN
T1 - Distributed Time-Varying Convex Optimization Problem with Affine Formation Constraints for Multi-Agent System
AU - Su, Piaoyi
AU - Shi, Zhexin
AU - Yu, Jianglong
AU - Shi, Pengfei
AU - Dong, Xiwang
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In this work, a distributed time-varying convex optimization problem with affine formation constraints is studied for nonlinear system subject to parametric uncertainties. Each agent has a local time-varying cost function known to only itself, and minimize the team cost functions through local interaction when satisfying affine formation constraints to complete the task. First, a novel problem considering affine formation constraints with more practical general Laplacians is discusseded. Second, distributed continuous-time optimization protocols are designed to generate optimal reference signals and adaptive controllers are constructed to track the optimal reference signals. Third, based on the Lyapunov theory, the bounded convergence to the optimal solution is proved. Finally, numerical simulation example is presented to demonstrate the theoretical results.
AB - In this work, a distributed time-varying convex optimization problem with affine formation constraints is studied for nonlinear system subject to parametric uncertainties. Each agent has a local time-varying cost function known to only itself, and minimize the team cost functions through local interaction when satisfying affine formation constraints to complete the task. First, a novel problem considering affine formation constraints with more practical general Laplacians is discusseded. Second, distributed continuous-time optimization protocols are designed to generate optimal reference signals and adaptive controllers are constructed to track the optimal reference signals. Third, based on the Lyapunov theory, the bounded convergence to the optimal solution is proved. Finally, numerical simulation example is presented to demonstrate the theoretical results.
KW - Distributed optimization
KW - adaptive control
KW - affine formation
KW - nonlinear systems
UR - https://www.scopus.com/pages/publications/85180125333
U2 - 10.1109/ICUS58632.2023.10318296
DO - 10.1109/ICUS58632.2023.10318296
M3 - 会议稿件
AN - SCOPUS:85180125333
T3 - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
SP - 417
EP - 421
BT - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
A2 - Song, Rong
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
Y2 - 13 October 2023 through 15 October 2023
ER -