Distributed Optimal Control for Linear Multiagent Systems on General Digraphs

• 成果类型: Article
• 署名作者: Zhang, Zhuo; Yan, Weisheng; Li, Huiping
• 署名单位: Northwestern Polytechnical University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.2974424
• 发表日期: 2021
• 页码: 322-328
• 关键词: topology; optimal control; optimization; Laplace equations; performance analysis; indexes; Protocols; Cooperative control; distributed optimal control; linear quadratic regulator (LQR); multiagent systems (MASs)

摘要

This article is concerned with the distributed optimal control of multiagent systems (MASs) with general linear dynamics. The cooperative tracking model consisting of multiple followers and one leader is constructed. Distributed optimal controllers are presented using the linear quadratic regulator, which guarantee the leader-following consensus of MASs and the optimization of global performance index. The global information of topology is unneeded for solutions of optimization equations. The topology graph is a general digraph, and the only requirement is that the digraph should contain a directed spanning tree. Numerical examples are finally reported to demonstrate the efficiency of presented approach.