Distributed Constrained Optimal Consensus Under a Directed Graph
Keywords: Constrained optimal consensus, multi-agent systems, set constraints, general constraints
TL;DR: In this paper, the distributed constrained optimal consensus problem of multi-agent systems under a directed graph is investigated.
Abstract: In this paper, the distributed constrained optimal consensus problem of multi-agent systems under a directed graph is investigated. We propose two projection-based distributed constrained optimal consensus algorithms: one addressing set constraints and the other tailored for general constraints. Only the relative state is exchanged among agents in these two algorithms. In the stability analysis of case with set constraints, we transform the distributed optimization problem into a constrained leaderless consensus problem by adopting a sliding mode approach. Building on this foundational transformation, we further develop a projection-based distributed constrained optimal consensus algorithm to address general constraints. It is shown that the proposed algorithm achieves an ergodic convergence rate of $O(\frac{1}{k})$ with respect to the first-order optimality residuals. Numerical simulations are conducted to validate the effectiveness of our theoretical results.
Primary Area: optimization
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Submission Number: 10405
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