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.
Global optimal con- sensus for higher-order multi-agent systems with bounded controls.Automatica, 99:301–307, 2019
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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.