Sparse optimization theory for formation control of multi-agent systems

2020 Fiscal Year Final Research Report

• Project/Area Number: 19K23519
• Research Category: Grant-in-Aid for Research Activity Start-up
• Allocation Type: Multi-year Fund
• Review Section: 0302:Electrical and electronic engineering and related fields
• Research Institution: The University of Kitakyushu
• Principal Investigator: Ikeda Takuya 北九州市立大学, 国際環境工学部, 講師 (00848319)
• Project Period (FY): 2019-08-30 – 2021-03-31
• Keywords: マルチエージェントシステム / 分散制御 / スパースモデリング / 最適制御 / 凸最適化 / ネットワーク化制御

Outline of Final Research Achievements

This research investigates a sparse optimal control problem for multi-agent systems. The novel control approach minimizes the L0 control cost, i.e., the length of the support of control input. This enables us to find an effective activation schedule. Particularly, we have investigated a distributed bearing-constrained formation control of continuous-time multi-agent systems based on sampled bearing information. The problem is considered in arbitrary dimensional spaces. Our proposed method penalizes the control effort by L0 control cost, and hence the obtained distributed control is enhanced to take exactly zero value. The proposed method tracks a distributed control for an associated discrete-time multi-agent system. The analysis relies on the recently developed bearing rigidity theory. We have shown the feasibility, closed form, and stability of the proposed control.

Free Research Field

制御理論

Academic Significance and Societal Importance of the Research Achievements

本研究で提案する分散制御則の一つの特徴として，エージェント間の角度情報に注目していることが挙げられる．これにより，周囲の状況に応じて柔軟にスケールを制御することが可能である．また，本研究活動を通じて，時間的スパース性と空間的スパース性を同時に考慮した，学術的に新しい最適化問題を提案している．その最適解の必要条件や，効率的な数値計算手法の獲得に成功している．