Optimal Design for Consensus of Second Order Multi-agent Systems with Damping Term

This paper presents a LQR-based optimal design method for consensus of second order multi-agent systems with damping term in an undireceted communication topology. Concerning about the undirected connected topology, a Lyapunov based method is carried out to guarantee the asymptotical consensus of systems. Being different from previous researches, this paper takes the damping term into consideration and forms the velocity dynamics. Besides, it is derived that the consensus value is related with its parameter. In addition, simulations are carried out with simplified heading control systems of autonomous underwater vehicles (AUVs), which show the effectiveness of the proposed optimal design method.