Fully Distributed Control of Linear Systems With Optimal Cost on Directed Topologies
Fully Distributed Control of Linear Systems With Optimal Cost on Directed Topologies
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DOI：
10.1109/tcsii.2020.2987610
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发表时间：
2020-04
期刊：
影响因子：
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通讯作者：
Zhuo Zhang;Huiping Li;Weisheng Yan
中科院分区：
文献类型：
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作者：
Zhuo Zhang;Huiping Li;Weisheng Yan
本文研究了线性多智能体系统在一般有向拓扑结构上的完全分布式最优控制。考虑扰动的存在，设计了一种动态滑模控制方案。通过求解一个无拓扑的代数Riccati方程，实现了能量-费用性能的优化。该控制协议与全局拓扑信息无关，每个Agent可以完全分布式地管理自己的控制协议。最后给出了一个数值例子来说明该协议的有效性。
This brief investigates the fully distributed optimal control of linear multi-agent systems on generally directed topologies. Considering the existence of disturbances, a dynamical sliding-mode control protocol is designed. The optimization of energy-cost performance is achieved by solving a topology-free algebraic Riccati equation. The presented control protocol is independent with the global information of topologies, and each agent can manage its protocol in a fully distributed way. A numerical example is finally reported to show the efficiency of presented protocol.