Loading...

A unified optimization-based framework to adjust consensus convergence rate and optimize the network topology in uncertain multi-agent systems

Sarafraz, M. S ; Sharif University of Technology | 2021

437 Viewed
  1. Type of Document: Article
  2. DOI: 10.1109/JAS.2021.1004111
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2021
  4. Abstract:
  5. This paper deals with the consensus problem in an uncertain multi-agent system whose agents communicate with each other through a weighted undirected (primary) graph. The considered multi-agent system is described by an uncertain state-space model in which the involved matrices belong to some matrix boxes. As the main contribution of the paper, a unified optimization-based framework is proposed for simultaneously reducing the weights of the edges of the primary communication graph (optimizing the network topology) and synthesizing a controller such that the consensus in the considered uncertain multi-agent system is ensured with an adjustable convergence rate. Considering the NP-hardness nature of the optimization problem related to the aforementioned framework, this problem is relaxed such that it can be solved by regular LMI solvers. Numerical/practical-based examples are presented to verify the usefulness of the obtained results. © 2014 Chinese Association of Automation
  6. Keywords:
  7. NP-hard ; State space methods ; Topology ; Communication graphs ; Consensus problems ; Convergence rates ; Network topology ; Optimization problems ; State - space models ; Unified optimizations ; Multi agent systems
  8. Source: IEEE/CAA Journal of Automatica Sinica ; Volume 8, Issue 9 , 2021 , Pages 1539-1548 ; 23299266 (ISSN)
  9. URL: https://ieeexplore.ieee.org/abstract/document/9479805