Distributed optimal nonlinear dynamic inversion for multi-agents consensus

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dc.contributor.authorMondal, Sabyasachi
dc.contributor.authorTsourdos, Antonios
dc.date.accessioned2025-06-24T12:55:50Z
dc.date.available2025-06-24T12:55:50Z
dc.date.freetoread2025-06-24
dc.date.issued2025-07
dc.date.pubOnline2025-04-24
dc.description.abstractIn this paper, we propose an optimal distributed controller based on Nonlinear Dynamic Inversion (NDI) theory and apply it to solve the consensus of nonlinear multi-agent systems (MASs). Our proposed method addresses the limitations of existing Distributed Nonlinear Dynamic Inversion (DNDI) techniques, which only apply to agents with square output. We formulated an optimal control problem to minimize a quadratic cost function while satisfying a set of linear constraints derived by simplifying the enforced consensus error dynamics. By relaxing the previous limitation, we introduced a distributed optimal framework called Distributed Optimal NDI (DONDI). This framework achieves consensus and incorporates additional objectives, such as minimizing control energy. The design of Optimal DNDI inherits all the advantages of NDI and provides an optimized allocation of control for achieving consensus in MAS. Also, we have shown how the controller handles the communication noise. This approach represents a significant advancement in multi-agent control, and our experimental results demonstrate its satisfactory performance and effectiveness.
dc.description.journalNameEuropean Journal of Control
dc.identifier.citationMondal S, Tsourdos A. (2025) Distributed optimal nonlinear dynamic inversion for multi-agents consensus. European Journal of Control, Volume 84, July 2025, Article number 101223en_UK
dc.identifier.eissn1435-5671
dc.identifier.elementsID672923
dc.identifier.issn0947-3580
dc.identifier.paperNo101223
dc.identifier.urihttps://doi.org/10.1016/j.ejcon.2025.101223
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/24044
dc.identifier.volumeNo84
dc.languageEnglish
dc.language.isoen
dc.publisherElsevieren_UK
dc.publisher.urihttps://www.sciencedirect.com/science/article/pii/S0947358025000512?via%3Dihub
dc.rightsAttribution 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subjectOptimal controlen_UK
dc.subjectDistributed nonlinear dynamic inversionen_UK
dc.subjectConsensusen_UK
dc.subjectNonlinear agentsen_UK
dc.subject4007 Control Engineering, Mechatronics and Roboticsen_UK
dc.subject40 Engineeringen_UK
dc.subjectIndustrial Engineering & Automationen_UK
dc.subject4007 Control engineering, mechatronics and roboticsen_UK
dc.titleDistributed optimal nonlinear dynamic inversion for multi-agents consensusen_UK
dc.typeArticle
dc.type.subtypeJournal Article
dcterms.dateAccepted2025-03-29

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