TY - GEN
T1 - Distributed Time-Varying Formation and Optimization for Uncertain Euler-Lagrange Systems
AU - Sun, Chao
AU - Feng, Zhi
AU - Hu, Guoqiang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2019/4/10
Y1 - 2019/4/10
N2 - In this paper, we consider a distributed time-varying formation and optimization problem for a group of robots with uncertain Euler-Lagrange dynamics. The robots are required to keep a time-varying formation as well as optimizing a quadratic objective function that is composed of the state information of all the robots. The problem is first mathematically reformulated as a distributed time-varying optimization problem, where the time-varying formation task is viewed as a time-varying constraint. An inexact penalty function based method is proposed to estimate the optimal solution of the time-varying optimization problem. Lyapunov based analysis is developed, and asymptotical convergence to the estimated optimal solution is proven. A numerical example is provided to show the effectiveness and efficiency of the proposed methods.
AB - In this paper, we consider a distributed time-varying formation and optimization problem for a group of robots with uncertain Euler-Lagrange dynamics. The robots are required to keep a time-varying formation as well as optimizing a quadratic objective function that is composed of the state information of all the robots. The problem is first mathematically reformulated as a distributed time-varying optimization problem, where the time-varying formation task is viewed as a time-varying constraint. An inexact penalty function based method is proposed to estimate the optimal solution of the time-varying optimization problem. Lyapunov based analysis is developed, and asymptotical convergence to the estimated optimal solution is proven. A numerical example is provided to show the effectiveness and efficiency of the proposed methods.
UR - https://www.scopus.com/pages/publications/85064979607
U2 - 10.1109/CYBER.2018.8688046
DO - 10.1109/CYBER.2018.8688046
M3 - 会议稿件
AN - SCOPUS:85064979607
T3 - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
SP - 889
EP - 894
BT - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
Y2 - 19 July 2018 through 23 July 2018
ER -