Finite-time optimal consensus control for second-order multi-agent systems

Rui Li; Yingjing Shi

doi:10.3934/jimo.2014.10.929

Article Contents

2014, Volume 10, Issue 3: 929-943. Doi: 10.3934/jimo.2014.10.929

This issue Previous Article A hybrid approach for index tracking with practical constraints Next Article Quadratic optimization over one first-order cone

Finite-time optimal consensus control for second-order multi-agent systems

Rui Li^1, and
Yingjing Shi^2,

1.
School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu
2.
School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu

Received: May 31, 2012

Revised: June 30, 2013

Published: June 2014

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Abstract

We propose an optimal consensus design method for solving a finite-time optimal control problem involving a second-order multi-agent system. With this method, the optimal consensus problem can be modeled as an optimal parameter selection problem with continuous state inequality constraints and free terminal time. By virtue of the constraint transcription method and a time scaling transform method, a gradient-based optimization algorithm is developed to solve this optimal parameter selection problem. Furthermore, a new consensus protocol is designed, by which the consensus value of the system velocity can be chosen to be an arbitrary value. For illustration, simulation studies are carried out to demonstrate the proposed method.

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Mathematics Subject Classification: Primary: 58E25; Secondary: 49N90.

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