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Distributed optimal coordination for multiple heterogeneous Euler-Lagrangian systems
Zhang, Yanqiong2; Deng, Zhenhua1; Hong, Yiguang1
2017-05-01
Source PublicationAUTOMATICA
ISSN0005-1098
Volume79Pages:207-213
AbstractIn this paper, we consider the distributed optimal coordination (DOC) problem for multi-agent systems" with the agents in the form of Euler-Lagrangian (EL) dynamics. We propose two different distributed protocols for the heterogeneous continuous-time EL agents to achieve the optimization task. By 11 constructing suitable Lyapunov functions, we prove the global convergence to the optimal coordination of the EL systems in the case with parametric uncertainties, and the global exponential convergence in the case without parametric uncertainties. Furthermore, we estimate the regret bound for an uncertain DOC problem with time-varying cost functions and inexact gradients. Finally, we provide a numerical example to validate the theoretical results. (C) 2017 Elsevier Ltd. All rights reserved.
KeywordDistributed optimization Gradient-based algorithms Euler-Lagrangian systems Uncertainties
DOI10.1016/j.automatica.2017.01.004
Language英语
Funding ProjectNational Key Research and Development Program of China[2016YFB0901902] ; Beijing Natural Science Foundation[4152057] ; NSFC[61333001] ; NSFC[61573344]
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000399513300025
PublisherPERGAMON-ELSEVIER SCIENCE LTD
Citation statistics
Cited Times:27[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.amss.ac.cn/handle/2S8OKBNM/25308
Collection系统科学研究所
Affiliation1.Chinese Acad Sci, Acad Math & Syst Sci, Beijing 100190, Peoples R China
2.Zhejiang Gongshang Univ, Sch Informat & Elect Engn, Hangzhou 310018, Zhejiang, Peoples R China
Recommended Citation
GB/T 7714
Zhang, Yanqiong,Deng, Zhenhua,Hong, Yiguang. Distributed optimal coordination for multiple heterogeneous Euler-Lagrangian systems[J]. AUTOMATICA,2017,79:207-213.
APA Zhang, Yanqiong,Deng, Zhenhua,&Hong, Yiguang.(2017).Distributed optimal coordination for multiple heterogeneous Euler-Lagrangian systems.AUTOMATICA,79,207-213.
MLA Zhang, Yanqiong,et al."Distributed optimal coordination for multiple heterogeneous Euler-Lagrangian systems".AUTOMATICA 79(2017):207-213.
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