Abstract
Abstract: In this paper, we present and analyze a LQ (Linear Quadratic) inverse optimal state-consensus protocol for continuous-time multi-agent systems with undirected graph topology. By Lyapunov analysis of the state-consensus error dynamics, we show the sufficient conditions on the algebraic connectivity of the graph to guarantee LQ inverse optimality and closed-loop stability. A more relaxed stability condition is also provided in terms of the algebraic connectivity. Finally, a formation control protocol for multiple mobile robots is proposed based on the target LQ inverse optimal consensus protocol, and the simulation results are provided to verify the performance of the proposed LQ inverse formation control method.Keywords: inverse optimal consensus, multi-agent systems, formation control Copyright© ICROS 2014 I. 서론 (consensus control) ! #$%&'()*+,-, ./01234 56*+[1-3]. 7 #(multi-agent system) 8, 9:; ?7@ABC??D(E?-, 8(F?GHIJ=(state variable) K%LMJ=(output variable) <J =1 NO?DPQ(RS? T(U[1,2]. VWX6Y/ Z[\# ]/ ./01^_`ab*+,-[3-14], c/ 9:;de(formation control) f gbh[15-17]./i, jk./Z./01^_bh[8-12]. lmnop:6(graph topology) c/jk q(LQ: Linear Quadratic) rZ(suboptimal) 1[8]#g?s,-, .=tuvf@w(algebraic Riccati equation) [8-11], HI[x [10,11], 9Zyz {[12] <( c,:?|}f VWX6~r4gb*+. ]/Z|}f 1aa%
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Journal of Institute of Control, Robotics and Systems
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
