Optimal Output Consensus for Nonlinear Multi-agent Systems with Both Static and Dynamic Uncertainties

TL;DR

This paper develops a two-step control design for heterogeneous nonlinear multi-agent systems with uncertainties, ensuring output consensus and optimal agreement through distributed optimization.

Contribution

It introduces a novel two-step design combining optimal signal generation and distributed stabilization to handle nonlinearities and uncertainties for optimal output consensus.

Findings

Achieves output consensus in uncertain nonlinear multi-agent systems.

Ensures optimal agreement via distributed optimization.

Handles both static and dynamic uncertainties effectively.

Abstract

In this technical note, we investigate an optimal output consensus problem for heterogeneous uncertain nonlinear multi-agent systems. The considered agents are described by high-order nonlinear dynamics subject to both static and dynamic uncertainties. A two-step design, comprising sequential constructions of optimal signal generator and distributed partial stabilization feedback controller, is developed to overcome the difficulties brought by nonlinearities, uncertainties, and optimal requirements. Our study can not only assure an output consensus, but also achieve an optimal agreement characterized by a distributed optimization problem.