Abstract
In this paper, an inverse optimal control problem of multi-agent systems is investigated based on partial stability and structured Lyapunov matrix. Agents with general linear dynamics are considered. The communication graph of the agents is assumed to be undirected and fixed. A cooperative optimal control protocol is designed to guarantee consensus based on static output feedback. It is demonstrated that, given the stabilizing static output feedback control input, a performance index function can be found such that the control input is optimal. A structured quadratic performance index is derived that is related to the topology of the communication graph. It allows for global optimal control that is implemented using the proposed distributed consensus protocol.
Highlights
Cooperative control of multi-agent systems [1]–[13] has received intensive attention due to its broad applications in spacecraft, unmanned air vehicles, mobile robots, and networked autonomous team, etc
A suboptimal design using local linear quadratic regulator (LQR) design method was presented for a multi-agent system with linear time-invariant dynamics [18], [19]
Reference [29] brought together partial stability and optimality theory to design distributed cooperative control protocols that ensure consensus and are globally optimal with respect to a positive semi-definite quadratic performance criterion based on state feedback control
Summary
Cooperative control of multi-agent systems [1]–[13] has received intensive attention due to its broad applications in spacecraft, unmanned air vehicles, mobile robots, and networked autonomous team, etc. Reference [29] brought together partial stability and optimality theory to design distributed cooperative control protocols that ensure consensus and are globally optimal with respect to a positive semi-definite quadratic performance criterion based on state feedback control. The cooperative inverse optimal problem of multi-agent systems using dynamic output feedback control was investigated in our previous work [32], in which a distributed observer is designed.
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