TY - GEN
T1 - Proximal Gradient Algorithm for Optimal formation Control of Continuous-Time Multi-Agent Systems
AU - An, Ningbo
AU - Wang, Qishao
AU - Wang, Qingyun
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/11/13
Y1 - 2020/11/13
N2 - A distributed proximal gradient algorithm is proposed in this paper to solve the linear quadratic formation control problem of continuous-time multi-agent systems. Similar to [1], an auxiliary variable is introduced to describe the reference point of formation, which is one of the optimization objectives, and a nonseparable multi-objective optimization problem is formulated. Applying the alternating proximal gradient method of multipliers, the solution to optimal formation control problem is turned into dealing with one simple optimal tracking control problem and two matrix algebraic operation steps alternatively, which saves a lot of computation resources. Numerical examples of homogenous systems, heterogeneous systems and wheeled vehicles are provided to demonstrate the efficiency of the proposed algorithm.
AB - A distributed proximal gradient algorithm is proposed in this paper to solve the linear quadratic formation control problem of continuous-time multi-agent systems. Similar to [1], an auxiliary variable is introduced to describe the reference point of formation, which is one of the optimization objectives, and a nonseparable multi-objective optimization problem is formulated. Applying the alternating proximal gradient method of multipliers, the solution to optimal formation control problem is turned into dealing with one simple optimal tracking control problem and two matrix algebraic operation steps alternatively, which saves a lot of computation resources. Numerical examples of homogenous systems, heterogeneous systems and wheeled vehicles are provided to demonstrate the efficiency of the proposed algorithm.
KW - Multi-agent Systems
KW - Optimal Formation
KW - Proximal Gradient Algorithm
UR - https://www.scopus.com/pages/publications/85100902101
U2 - 10.1109/ICCSS52145.2020.9336880
DO - 10.1109/ICCSS52145.2020.9336880
M3 - 会议稿件
AN - SCOPUS:85100902101
T3 - 2020 7th International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2020
SP - 597
EP - 602
BT - 2020 7th International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2020
Y2 - 13 November 2020 through 15 November 2020
ER -