Distributed Optimal Leader-Follower Consensus Protocol Design for a Class of High Order Multi-Agent System: Fixed-Time Topology Approach

An optimal leader-follower consensus of high order multi-agent systems (MAS) under fixed, connected and directed communication topology is presented in this paper. The dynamics of each agent including the followers and their corresponding leader is a linear high order system. Linear Quadratic Regulator (LQR) is designated to achieve the optimal consensus for high order linear MAS with guaranteed the predefined both phase and gain margin. To tackle this problem, a set of fixed distributed control laws for each follower agent is designed, based on algebraic graph theory. Simulation results indicate the effectiveness of the proposed method and display the consensus via distributed control laws.