Distributed Convex Optimization for Flocking of Nonlinear Multi-agent Systems

A distributed optimization problem with differentiable convex objective function is discussed for continuous-time multi-agent systems with flocking behavior of a nonlinear continuous function. The goal of this paper is to design a controller by using only local interaction information, thus making velocities of all agents be the same. Then the stability of the multi-agent systems is proved and the velocities converge to the value minimizing the sum of local objective functions. Moreover, the paper got some sufficient conditions for the consensus and the optimization. Finally, a numerical case is used to verify the analytical results.

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