Title :
Optimal control of first-order multi-agent systems with leaders
Author :
Jingying Ma ; Huaizhu Wang ; Yuanshi Zheng ; Long Wang
Author_Institution :
Sch. of Math. & Comput., Ningxia Univ., Yinchuan, China
Abstract :
This paper considers optimal control for the first-order multi-agent systems with leaders. Based on linear quadratic regulator theory, we propose a quadratic cost function which is independent of the interaction graph. For the leader-following consensus problem, the optimal control corresponds to a star topology. For the containment control problem, the optimal control is obtained by solving a series of convex optimization problems. Simulation examples are provided to illustrate the effectiveness of the theoretical results.
Keywords :
convex programming; graph theory; linear quadratic control; multi-agent systems; containment control problem; convex optimization problem; first-order multiagent system; interaction graph; leader-following consensus problem; linear quadratic regulator theory; optimal control; quadratic cost function; star topology; Convergence; Cost function; Multi-agent systems; Optimal control; Switches; Topology;
Conference_Titel :
Mechatronics and Control (ICMC), 2014 International Conference on
Print_ISBN :
978-1-4799-2537-7
DOI :
10.1109/ICMC.2014.7231627
