Distributed Optimal Control for Linear Multiagent Systems on General Digraphs
Zhuo Zhang, Weisheng Yan, Huiping Li
Abstract
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.
Topics & Concepts
DigraphMulti-agent systemOptimal controlGraphSpanning treeMathematical optimizationComputer scienceTopology (electrical circuits)Directed graphMathematicsGraph theoryControl theory (sociology)Control (management)Theoretical computer scienceDiscrete mathematicsAlgorithmCombinatoricsArtificial intelligenceDistributed Control Multi-Agent SystemsNeural Networks Stability and SynchronizationAdaptive Dynamic Programming Control