2022/03/30 by Sushobhan Chatterjee, Chatterjee, Sushobhan, Rachel Kalpana Kalaimani +1
Computer Science · Physics and Astronomy · #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #FOS: Mathematics #Neural Networks Stability and Synchronization #Opinion Dynamics and Social Influence #Optimization and Control (math.OC) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2203.16451
openalex publication_date 2022/03/30 · openalex created_date 2022/04/03 · openalex updated_date 2026/07/28
In this paper, we consider the problem of containment control of multi-agent systems with multiple stationary leaders, interacting over a directed network. While, containment control refers to just ensuring that the follower agents reach the convex hull of the leaders states, we focus on the problem where the followers achieve a consensus to the average values of the leaders states. We propose an algorithm that can be implemented in a distributed manner to achieve the above consensus among followers. Next we optimize the convergence rate of the followers to the average consensus by proper choice of weights for the interaction graph. This optimization is also performed in a distributed manner using Alternating Direction Method of Multipliers (ADMM). Finally, we complement our results by illustrating them with numerical examples.