Abstract
This paper addresses the problem of distributed optimal coordination over second-order multi-agent systems, where the dynamics are nonlinear and unknown. To solve this problem, a state-based observer is designed to handle the unknown matched and unmatched nonlinear terms. Using this observer and the proportional–integral control concept, a distributed optimal coordination algorithm with fixed control parameters is constructed through the consensus scheme and gradient flow method. With the help of the Routh–Hurwitz stability criterion, the exponential convergence proof is guaranteed under the condition that the nonlinear term and the convex local cost function are all locally Lipschitz. Finally, we present four simulation examples, including the vehicle platoon’s cooperative control, to demonstrate the efficiency of our proposed algorithms.
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