In this paper, linear quadratic regulator (LQR) theory is applied to solve the inverse optimal consensus problem for a second-order linear multi-agent systems (MAS) under independent position and velocity topology. The optimal Laplacian matrices related to the topologies of position and velocity are derived by solving the algebraic Riccati equation (ARE). Theoretically, we obtain the optimal Laplacian matrices, which correspond to the directed strongly connected graphs, for the second-order multi-agent systems. Finally, two simulation examples are provided to verify the theoretical analysis of this paper.
Distributed Optimal Consensus for Multi-Agent Systems Under Independent Position and Velocity Topology
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received July 4, 2016; final manuscript received March 6, 2017; published online June 28, 2017. Assoc. Editor: Manish Kumar.
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Ding, C., Li, J., and Jinsha, L. (June 28, 2017). "Distributed Optimal Consensus for Multi-Agent Systems Under Independent Position and Velocity Topology." ASME. J. Dyn. Sys., Meas., Control. October 2017; 139(10): 101012. https://doi.org/10.1115/1.4036536
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