A reference-governed two-layer architecture using first-order CBFs and dynamic safety margins enables safe optimal output agreement in nonlinear multi-agent systems while preserving the steady-state optimum.
Explicit reference governor for constrained nonlinear sys- tems.IEEE Transactions on Automatic Control, 61 (5):1379–1384, 2015
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Reference-Governed Distributed Safe Gradient Flow for Safe Optimal Output Agreement of Multi-Agent Systems
A reference-governed two-layer architecture using first-order CBFs and dynamic safety margins enables safe optimal output agreement in nonlinear multi-agent systems while preserving the steady-state optimum.