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《第36届中国控制会议论文集(E)》2017年
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Optimal Consensus Protocols Based on the LQR Perspective

Yuxin Wei  Guo-Ping Liu  
【摘要】:This paper investigates the optimal consensus problems of both continuous-time and discrete-time multiagent systems based on the proposed global cost functions.Based on the LQR perspective and the the proposed global cost functions,we derive the optimal consensus protocols and the optimal topologies for both the continuous-time and discrete-time multiagent systems cases.The results shows that the optimal topologies correspond to global cost functions with different parameters choices,the complete directed graph and connected undirected graph cases are given in the following.Numerical examples are given to validate the theoretical results.
【作者单位】:Center for Control Theory and Guidance Technology,Harbin Institute of Technology School of Engineering,University of South Wales
【基金】:supported by National Natural Science Foundation of China under Project Code 61333003
【分类号】:O232
【正文快照】:
1 IntroductionRecently,there has been a growing interest towards the de?velopment of the distributed cooperative control of the mul-tiagent systems(MASs).The motivations of the distributedcooperative control is to replace a centralized control unitwith a

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