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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.
This paper addresses the problem of positive consensus of directed multi-agent systems with observer-type output-feedback protocols. More specifically, directed graph is used to model the communication topology of the multi-agent system and linear ma
This paper investigates an optimal consensus problem for a group of uncertain linear multi-agent systems. All agents are allowed to possess parametric uncertainties that range over an arbitrarily large compact set. The goal is to collectively minimiz
This paper studies an optimal consensus problem for a group of heterogeneous high-order agents with unknown control directions. Compared with existing consensus results, the consensus point is further required to an optimal solution to some distribut
In this paper, an optimal output consensus problem is studied for discrete-time linear multiagent systems subject to external disturbances. Each agent is assigned with a local cost function which is known only to itself. Distributed protocols are to
We address the optimal dynamic formation problem in mobile leader-follower networks where an optimal formation is generated to maximize a given objective function while continuously preserving connectivity. We show that in a convex mission space, the