Preview-based leader-following consensus control of distributed multi-agent systems

被引：27
作者：
Li, Guilu [1 ]
Ren, Chang-E [1 ,2 ]
Chen, C. L. Philip [3 ]
机构：
[1] Capital Normal Univ, Sch Informat Engn, Beijing, Peoples R China
[2] Beijing Key Lab Light Ind Robots & Safety Verific, Beijing, Peoples R China
[3] South China Univ Technol, Sch Comp Sci & Engn, Guangzhou, Peoples R China
来源：
INFORMATION SCIENCES | 2021年 / 559卷
关键词：
Linear quadratic regulator; Preview control; Multi-agent systems; Consensus control; Distributed control; TRACKING CONTROL; TIME-DELAY; TOPOLOGY;
D O I：
10.1016/j.ins.2020.12.081
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The preview-based leader-following consensus control of distributed multi-agent systems (MAS) with a directed acyclic graph is investigated in this paper. The external disturbance considered in this paper is the step function that can be previewed, and the information of the leader can be obtained in advance. The leader-following consensus control of MAS is solved by using the state augmentation technique and the preview control method that transforms the consensus control problem into the finite horizon linear quadratic regulator (LQR) problem and the infinite horizon LQR problem. In the finite horizon, the minimum principle is utilized to design the optimal controller. In the infinite horizon, the standard infinite horizon LQR is applied to devise the corresponding controller. Assuming the original systems are stabilisable and detectable, the distributed consensus controller guarantees the asymptotic consensus of the preview MAS. The simulation illustrates the effectiveness of the distributed leader-following consensus controller designed in this paper. (C) 2021 Elsevier Inc. All rights reserved.
引用
收藏
页码：251 / 269
页数：19
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