NDLI: Constrained consensus via logarithmic barrier functions

Content Provider	IEEE Xplore Digital Library
Author	Unsik Lee Mesbahi, M.
Copyright Year	2011
Description	Author affiliation: Department of Aeronautics and Astronautics, University of Washington, Seattle, 98195-2400, USA (Unsik Lee; Mesbahi, M.)
Abstract	In this paper, we consider distributed algorithms for consensus of multiple agents in presence of convex state constraints on individual agent state. Each agent's state is assumed to be constrained in a distinct compact convex set. We show that following the proposed distributed protocol, the agents are guaranteed to reach an agreement on a state that lies at the intersection of individual convex constraint sets. This is accomplished by introducing and sharing auxiliary variables in the network. The auxiliary variable utilizes a logarithmic barrier function to form a convex potential that is augmented to the consensus protocol. The consensus algorithm is then interpreted as a gradient-descent algorithm which operates with the desire to reach consensus while avoiding violation of the constraint sets. This modified consensus algorithm is applicable when each agent is required to satisfy its own constraints while synchronizing with others, e.g., attitude synchronization in presence of attitude constraints. An example is given for two different network topologies to evaluate the effectiveness and the convergence rate of the proposed algorithm.
Starting Page	3608
Ending Page	3613
File Size	386740
Page Count	6
File Format	PDF
ISBN	9781612848006
ISSN	07431546
e-ISBN	9781612848013
e-ISBN	9781612847993
DOI	10.1109/CDC.2011.6161496
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vectors Protocols Laplace equations Convergence Convex functions Vehicle dynamics Symmetric matrices
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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