Distributed Optimal Output Feedback Control Of Heterogeneous Multi-Agent Systems Under A Directed Graph

Keywords

Directed Graph; Distributed Algorithm; Multi-agent systems; Noninferior solution; Optimal Control

Abstract

In this paper, we consider distributed optimal feedback control design problem for a network of heterogeneous systems. The agents are coupled through their linear quadratic cost function and their interaction (communication) topology is given by a strongly connected directed graph. The goal is to design a distributed optimal feedback control which minimizes the total cost function in a distributed manner by only relying on the neighboring information of each agent. Moreover, the design of the optimal feedback control gain is also performed in a distributed manner by only relying on the neighboring information of each agent. To this end, firstly the necessary conditions are derived for the noninferior solution to the overall performance index. Then, by utilizing the idea of finite-time consensus algorithm, it is shown that the optimal feedback gain can also be computed in a distributed manner by the agents. Finally, we demonstrate the effectiveness of the proposed control law via a simulation on a group of heterogeneous dynamical systems.

Publication Date

7-1-2017

Publication Title

IFAC-PapersOnLine

Volume

50

Issue

1

Number of Pages

5097-5102

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1016/j.ifacol.2017.08.776

Socpus ID

85031808170 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/85031808170

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