DocumentCode
3575774
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
fYear
2014
Firstpage
607
Lastpage
611
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Control (ICMC), 2014 International Conference on
Print_ISBN
978-1-4799-2537-7
Type
conf
DOI
10.1109/ICMC.2014.7231627
Filename
7231627
Link To Document