Robust Distributed Sub-Optimal Coordination of Linear Agents with Uncertain Input Nonlinearities

Abstract

In this paper, we study robust distributed sub-optimal coordination of linear agents subject to input nonlinearities. Inspired by the robust agreement literature, we formulate a bounded distributed sub-optimal coordination problem, in which each agent converges to a neighborhood of the optimizer of a global optimization problem defined over a communication network. We propose a novel control protocol, and analyze convergence by employing a robust control approach, in which both the input nonlinearities and the gradients of the objective functions are treated in a unified manner via sector conditions. In particular, we derive sufficient conditions for the solvability of the considered problem and characterize them in terms of matrix inequalities. The effectiveness of the proposed method is demonstrated through a numerical simulation.