Distributed Time-Varying Quadratic Optimal Resource Allocation Subject to Nonidentical Time-Varying Hessians With Application to Multiquadrotor Hose Transportation
针对多智能体系统，提出一种分布式算法，解决具有时变二次成本函数和耦合等式约束的最优资源分配问题，并应用于多四旋翼协同运输软管。
This article considers the distributed time-varying optimal resource allocation problem with time-varying quadratic cost functions and a time-varying coupled equality constraint for multiagent systems. The objective is to design a distributed algorithm for agents with single-integrator dynamics to cooperatively satisfy the coupled equality constraint and minimize the sum of all local cost functions. Here, both the coupled equality constraint and cost functions depend explicitly on time. The cost functions are in quadratic form and may have nonidentical time-varying Hessians. To solve the problem in a distributed manner, an estimator based on the distributed average tracking method is first developed for each agent to estimate certain global information. By leveraging the estimated global information and an adaptive gain scheme, a distributed continuous-time algorithm is proposed, which ensures the agents to find and track the time-varying optimal trajectories with vanishing errors. We illustrate the applicability of the proposed method in the optimal hose transportation problem using multiple quadrotors.