arXiv subjects

Qishao Wang

Publications and source records attributed to Qishao Wang.

3 recordsLinked to original sources

arXiv2026

Distributed Model Predictive Control for Optimal Consensus of Constrained Heterogeneous Multi-agent Systems

This paper investigates the distributed optimal consensus control problem of constrained heterogeneous multi-agent systems within a model predictive control (MPC) scheme. Both the control input sequence and the dynamically feasible consensus equilibrium are optimized simultaneously within the proposed MPC framework to improve consensus performance, yielding a coupled constrained optimization problem at each prediction time. A distributed primal--dual algorithm is developed to solve the resulting optimization problem, and locally verifiable conditions are derived to guarantee its convergence. Furthermore, sufficient terminal conditions are established for the proposed MPC framework to guarantee the recursive feasibility and asymptotic consensus of the closed-loop heterogeneous multi-agent systems. Finally, numerical simulations verify the effectiveness of the proposed approach.

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arXiv2021

A Distributed Optimization Scheme for State Estimation of Nonlinear Networks with Norm-bounded Uncertainties

This paper investigates the state estimation problem for a class of complex networks, in which the dynamics of each node is subject to Gaussian noise, system uncertainties and nonlinearities. Based on a regularized least-squares approach, the estimation problem is reformulated as an optimization problem, solving for a solution in a distributed way by utilizing a decoupling technique. Then, based on this solution, a class of estimators is designed to handle the system dynamics and constraints. A novel feature of this design lies in the unified modeling of uncertainties and nonlinearities, the decoupling of nodes, and the construction of recursive approximate covariance matrices for the optimization problem. Furthermore, the feasibility of the proposed estimators and the boundedness of the mean-square errors are ensured under a developed criterion, which is easier to check than some typical estimation strategies including the linear matrix inequalities-based and the variance-constrained ones. Finally, the effectiveness of the theoretical results is verified by a numerical simulation.

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arXiv2018

Linear Quadratic Synchronization of Multi-Agent Systems: A Distributed Optimization Approach

The distributed optimal synchronization problem with linear quadratic cost is solved in this paper for multi-agent systems with an undirected communication topology. For the first time, the optimal synchronization problem is formulated as a distributed optimization problem with a linear quadratic cost functional that integrates quadratic synchronization errors and quadratic input signals subject to agent dynamics and synchronization constraints. By introducing auxiliary synchronization state variables and combining the distributed synchronization method with the alternating direction method of multiplier (ADMM), a new distributed control protocol is designed for solving the distributed optimization problem. With this construction, the optimal synchronization control problem is separated into several independent subproblems: a synchronization optimization, an input minimization and a dual optimization. These subproblems are then solved by distributed numerical algorithms based on the Lyapunov method and dynamic programming. Numerical examples for both homogeneous and heterogeneous multi-agent systems are given to demonstrate the effectiveness of the proposed method.

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