Distributed Optimization for High-order Nonlinear Multi-agent Systems with Unknown Dynamics

Abstract

In this paper, a distributed optimization problem was investigated for a class of high-order nonlinear multi-agent systems with unknown dynamics. To overcome the difficulties brought by the unknown nonlinearities and also the optimization requirement, we presented an embedded control based design and divided this problem into two simpler ones. By utilizing adaptive rules to deal with these unknown dynamics, we finally proposed two kinds of controllers for agents to drive their outputs to the optimal solution under some mild conditions. The efficacy of these algorithms was verified by a simulation example.