Exponential Convergence of Distributed Optimal Coordination for Linear Multi-Agent Systems over General Digraphs
Jin Zhang, Lu Liu, Haibo Ji · 2020
This paper considers the distributed optimal coordination problem of linear multi-agent systems over general directed graphs. By using the left eigenvector associated with the zero eigenvalue of the Laplacian matrix, we propose a new distributed continuous-time control law to ensure all the agent outputs to reach the optimal solution of the global objective function. The exponential convergence of the closed-loop multi-agent system is established when the general directed graph is strongly connected and the local objective functions are strongly convex with locally Lipschitz gradients. Finally, a simulation example is given to validate the effectiveness of the proposed control scheme.