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arXiv · 1507.04878

Distributed Convex Optimization for Continuous-Time Dynamics with Time-Varying Cost Function

Salar Rahili·Wei Ren
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Abstract

In this paper, a time-varying distributed convex optimization problem is studied for continuous-time multi-agent systems. Control algorithms are designed for the cases of single-integrator and double-integrator dynamics. Two discontinuous algorithms based on the signum function are proposed to solve the problem in each case. Then in the case of double-integrator dynamics, two continuous algorithms based on, respectively, a time-varying and a fixed boundary layer are proposed as continuous approximations of the signum function. Also, to account for inter-agent collision for physical agents, a distributed convex optimization problem with swarm tracking behavior is introduced for both single-integrator and double-integrator dynamics.

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Salar Rahili, Wei Ren. 2015-07-17. Distributed Convex Optimization for Continuous-Time Dynamics with Time-Varying Cost Function. https://doi.org/10.1109/tac.2016.2593899

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