Multi-Agent Optimal Consensus With Unknown Control Directions

This letter studies the optimal consensus problem for a group of heterogeneous high-order agents with unknown control directions. Compared with existing consensus results, reaching an optimal consensus further requires the consensus point to be a solution to some distributed optimization problem. First, we construct an optimal signal generator to reproduce the global optimal point. Then, we convert the optimal consensus problem into a robust stabilization problem for some translated multi-agent system. Finally, we present two distributed adaptive controllers depending upon different available information. Numerical examples are given to verify the efficacy of our designs.