Distributed Time-Varying Quadratic Optimal Resource Allocation Subject to Nonidentical Time-Varying Hessians With Application to Multiquadrotor Hose Transportation

Bo Wang, Shan Sun, Wei Ren*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

17 Citations (Scopus)

Abstract

This article considers the distributed time-varying optimal resource allocation problem with time-varying quadratic cost functions and a time-varying coupled equality constraint for multiagent systems. The objective is to design a distributed algorithm for agents with single-integrator dynamics to cooperatively satisfy the coupled equality constraint and minimize the sum of all local cost functions. Here, both the coupled equality constraint and cost functions depend explicitly on time. The cost functions are in quadratic form and may have nonidentical time-varying Hessians. To solve the problem in a distributed manner, an estimator based on the distributed average tracking method is first developed for each agent to estimate certain global information. By leveraging the estimated global information and an adaptive gain scheme, a distributed continuous-time algorithm is proposed, which ensures the agents to find and track the time-varying optimal trajectories with vanishing errors. We illustrate the applicability of the proposed method in the optimal hose transportation problem using multiple quadrotors.

Original languageEnglish
Pages (from-to)6109-6119
Number of pages11
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume52
Issue number10
DOIs
Publication statusPublished - 1 Oct 2022

Keywords

  • Continuous-time algorithm
  • distributed control
  • optimal resource allocation
  • time-varying system

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