Optimal Energy Consumption for Consensus of Multi-Agent Systems With Communication Faults

In this paper, we study the problems of consensus and obstacle avoidance of multi-agent system with limited energy and communication faults. Based on algebraic Riccati equations, a distributed energy-optimal collision-free controller is proposed under communication faults. Compared with common controllers that can achieve consensus asymptotically, this controller not only makes each agent avoid neighboring agents, but also minimizes the energy consumed by each agent. Through analysis, the range of energy consumption is obtained, and the maximum energy consumption is optimized. Finally, some simulation results also verify the validity of the theoretical results.

[1]  Frank L. Lewis,et al.  Finite-time distributed consensus via binary control protocols , 2011, Autom..

[2]  Xiaoming Hu,et al.  Consensus control for linear systems with optimal energy cost , 2018, Autom..

[3]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.

[4]  Yongguang Yu,et al.  Leader-Following Consensus of Fractional Nonlinear Multiagent Systems , 2015 .

[5]  Bo Egardt,et al.  Optimal Dimensioning and Power Management of a Fuel Cell/Battery Hybrid Bus via Convex Programming , 2015, IEEE/ASME Transactions on Mechatronics.

[6]  Gang Feng,et al.  Output Consensus of Heterogeneous Linear Discrete-Time Multiagent Systems With Structural Uncertainties , 2015, IEEE Transactions on Cybernetics.

[7]  Jürgen Kurths,et al.  Sampled-Data Consensus of Multi-Agent System in the Presence of Packet Losses , 2018, IEEE Access.

[8]  Yang Gao,et al.  UAV Swarm Cooperative Situation Perception Consensus Evaluation Method Based on Three-Parameter Interval Number and Heronian Mean Operator , 2018, IEEE Access.

[9]  Yongcan Cao,et al.  Optimal Linear-Consensus Algorithms: An LQR Perspective , 2010, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[10]  Xinyu Zhang,et al.  Finite-Time Adaptive Fuzzy Consensus Stabilization for Unknown Nonlinear Leaderless Multi-Agent Systems With Unknown Output Dead-Zone , 2019, IEEE Access.

[11]  Daizhan Cheng,et al.  Leader-following consensus of multi-agent systems under fixed and switching topologies , 2010, Syst. Control. Lett..

[12]  Xiaoming Hu,et al.  Optimal output consensus for linear systems: a topology free approach , 2016, Autom..

[13]  Yungang Liu,et al.  Global adaptive stabilization and practical tracking for nonlinear systems with unknown powers , 2019, Autom..

[14]  Jing Bai,et al.  Distributed consensus tracking for the fractional-order multi-agent systems based on the sliding mode control method , 2017, Neurocomputing.

[15]  Xiangyu Wang,et al.  Finite-time consensus and collision avoidance control algorithms for multiple AUVs , 2013, Autom..

[16]  Li Peng,et al.  Fast Finite-Time Consensus Tracking of First-Order Multi-Agent Systems with a Virtual Leader , 2014 .

[17]  MengChu Zhou,et al.  Energy-Optimal Collision-Free Motion Planning for Multiaxis Motion Systems: An Alternating Quadratic Programming Approach , 2019, IEEE Transactions on Automation Science and Engineering.

[18]  Daniel W. C. Ho,et al.  Consensus control for multiple AUVs under imperfect information caused by communication faults , 2016, Inf. Sci..

[19]  Jian Chen,et al.  Health-Aware and User-Involved Battery Charging Management for Electric Vehicles: Linear Quadratic Strategies , 2015, IEEE Transactions on Control Systems Technology.

[20]  Gang Chen,et al.  Distributed constrained optimization for multi-agent networks with nonsmooth objective functions , 2019, Syst. Control. Lett..

[21]  Zhiping Shi,et al.  Disturbance Observer-Based Consensus Control for Multiple Robotic Manipulators , 2018, IEEE Access.

[22]  Huazhen Fang,et al.  Energy-aware leader-follower tracking control for electric-powered multi-agent systems , 2018 .

[23]  Dong Sun,et al.  Minimizing Energy Consumption of Wheeled Mobile Robots via Optimal Motion Planning , 2014, IEEE/ASME Transactions on Mechatronics.

[24]  Hong-yong Yang,et al.  Distributed coordination of fractional order multi-agent systems with communication delays , 2014 .

[25]  Ian Postlethwaite,et al.  A distributed control law with guaranteed LQR cost for identical dynamically coupled linear systems , 2011, Proceedings of the 2011 American Control Conference.

[26]  Zengqiang Chen,et al.  Consensus of heterogeneous multi-agent systems with linear and nonlinear dynamics , 2015 .

[27]  Fei Liu,et al.  Stationary consensus of heterogeneous multi-agent systems with bounded communication delays , 2011, Autom..