A UNIFIED FRAMEWORK FOR CONTINUOUS-TIME UNCONSTRAINED DISTRIBUTED OPTIMIZATION

We introduce a class of distributed nonlinear control systems, termed as the flow-tracker dynamics, which capture phenomena where the average state is controlled by the average control input, with no individual agent having direct access to this average. The agents update their estimates of the average through a nonlinear observer. We prove that utilizing a proper gradient feedback for any distributed control system that satisfies these conditions will lead to a solution of the corresponding distributed optimization problem. We show that many of the existing algorithms for solving distributed optimization are instances of this dynamics, and hence their convergence properties can follow from its properties. In this sense, the proposed method establishes a unified framework for distributed optimization in continuous time. Moreover, this formulation allows us to introduce a suit of new continuous-time distributed optimization algorithms by readily extending the graph-theoretic conditions under which such dynamics are convergent.