Technical Communique: On decentralized negotiation of optimal consensus

Authors:
Björn Johansson;Alberto Speranzon;Mikael Johansson;Karl Henrik Johansson
Affiliations:
Automatic Control Lab, School of Electrical Engineering, Royal Institute of Technology (KTH), 100 44 Stockholm, Sweden;Unilever R&D Port Sunlight, Quarry Road East, Bebington, Wirral CH63 3JW, UK;Automatic Control Lab, School of Electrical Engineering, Royal Institute of Technology (KTH), 100 44 Stockholm, Sweden;Automatic Control Lab, School of Electrical Engineering, Royal Institute of Technology (KTH), 100 44 Stockholm, Sweden
Venue:
Automatica (Journal of IFAC)
Year:
2008

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Abstract

A consensus problem consists of finding a distributed control strategy that brings the state or output of a group of agents to a common value, a consensus point. In this paper, we propose a negotiation algorithm that computes an optimal consensus point for agents modeled as linear control systems subject to convex input constraints and linear state constraints. By primal decomposition and incremental subgradient methods, it is shown that the algorithm can be implemented such that each agent exchanges only a small amount of information per iteration with its neighbors.