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Distributed Optimal Consensus for Multi-Agent Systems under Independent Position and Velocity Topology

[+] Author and Article Information
Chenyang Ding

School of Mathematics and Statistics, Xidian University 266 Xinglong Section of Xifeng Road, Xi’an, Shaanxi, China 710126
chosending2012@163.com

Junmin Li

School of Mathematics and Statistics, Xidian University 266 Xinglong Section of Xifeng Road, Xi’an, Shaanxi, China 710126
jmli@mail.xidian.edu.cn

Li Jinsha

School of Mathematics and Statistics, Xidian University 266 Xinglong Section of Xifeng Road, Xi’an, Shaanxi, China 710126
jinsha0321@163.com

1Corresponding author.

ASME doi:10.1115/1.4036536 History: Received July 04, 2016; Revised March 06, 2017

Abstract

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 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, a simulation example is provided to verify the theoretical analysis of this paper.

Copyright (c) 2017 by ASME
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