Distributed Output Formation Optimal Tracking of Heterogeneous Linear Multiagent Systems via Distributed Time-Varying...

Area of Science:

• Control Systems Engineering
• Robotics
• Distributed Computing

Background:

• Existing formation tracking methods often rely on predetermined paths.
• Heterogeneous multiagent systems (MASs) present unique challenges in coordinated control.
• Achieving optimal tracking while maintaining formation is a complex control problem.

Purpose of the Study:

• To develop a distributed control strategy for optimal output formation tracking in heterogeneous multiagent systems (MASs).
• To enable MASs to track an optimal reference trajectory generated via distributed optimization, rather than relying on prespecified trajectories.
• To ensure convergence in both consensus and optimality under inequality constraints.

Main Methods:

• A distributed time-varying optimization algorithm was designed to generate optimal reference trajectories.
• A distributed output formation optimal tracking control protocol was developed, integrating the trajectory generator.
• Lyapunov stability analysis was employed to rigorously prove the convergence of the control algorithm.

Main Results:

• The proposed distributed optimization algorithm achieves fixed-time convergence in consensus and asymptotic convergence in optimality, handling inequality constraints.
• The integrated control protocol ensures that heterogeneous MASs achieve desired formations while tracking the optimal reference trajectory.
• Simulation examples validated the effectiveness and theoretical soundness of the proposed distributed control strategy.

Conclusions:

• The developed distributed control framework successfully addresses optimal output formation tracking for heterogeneous MASs.
• The novel approach offers a more flexible and optimal solution compared to methods using prespecified trajectories.
• The findings contribute to advancements in coordinated control and optimization for multiagent systems.