Distributed Cooperative Optimal Control for Multiagent Systems on Directed Graphs: An Inverse Optimal Approach
Distributed Cooperative Optimal Control for Multiagent Systems on Directed Graphs: An Inverse Optimal Approach
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有向图上多智能体系统的分布式协作最优控制：逆最优方法
DOI：
10.1109/tcyb.2014.2350511
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发表时间：
2015-07-01
影响因子：
11.8
通讯作者：
Liang, Hongjing
中科院分区：
文献类型：
--
作者：
Zhang, Huaguang;Feng, Tao;Liang, Hongjing
在本文中，采用逆最优方法来设计分布式一致性协议，这些协议对于有向图上相同线性系统的一些二次性能指标保证一致性和全局最优性。通过引入部分稳定性的概念发展了逆最优理论。结果，提出了逆最优性的充分必要条件。借助所发展的逆最优理论，为有向图上的全局最优协同控制问题建立了充分必要条件。基于所得最优分布式一致性协议的渐近性质给出了基本的最优协同设计步骤，并且多智能体系统能够渐近地达到期望的一致性性能（收敛速率和阻尼速率）。最后，给出两个例子来说明所提方法的有效性。
In this paper, the inverse optimal approach is employed to design distributed consensus protocols that guarantee consensus and global optimality with respect to some quadratic performance indexes for identical linear systems on a directed graph. The inverse optimal theory is developed by introducing the notion of partial stability. As a result, the necessary and sufficient conditions for inverse optimality are proposed. By means of the developed inverse optimal theory, the necessary and sufficient conditions are established for globally optimal cooperative control problems on directed graphs. Basic optimal cooperative design procedures are given based on asymptotic properties of the resulting optimal distributed consensus protocols, and the multiagent systems can reach desired consensus performance (convergence rate and damping rate) asymptotically. Finally, two examples are given to illustrate the effectiveness of the proposed methods.