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.
Online optimization as a feedback controller: Stability and tracking.IEEE Transac- tions on Control of Network Systems, 7(1):422–432, 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.