Optimal Output Consensus for a Class of Uncertain Nonlinear Multi-agent Systems

Abstract

This paper investigates an optimal output consensus problem for a class of nonlinear multi-agent systems with uncertainties. Compared with existing output consensus problem, the outputs of all agents are required not only to achieve a consensus, but also an optimal agreement on the solution to a distributed optimization problem. In other words, we aim to solve a distributed optimization problem where the local decision variables are determined as the outputs of dynamic plants. Furthermore, the considered agents are described by high-order nonlinear dynamics with both static and dynamic uncertainties. To solve this problem, we utilize an embedded control scheme and internal-model based design to overcome the difficulties brought by nonlinearities, uncertainties, and optimization requirements. Distributed controls are finally proposed for these uncertain nonlinear systems under standard assumptions. The effectiveness of our design is verified by simulation examples.