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Robust Finite-Time Stabilization of Fractional-Order Extended Nonholonomic Chained Form Systems Read chapter Read first chapter

2016 | OriginalPaper | Chapter

36. LQR-Based Optimal Leader-Follower Consensus of Second-Order Multi-agent Systems

Authors : Zonggang Li, Tongzhou Zhang, Guangming Xie

Published in: Proceedings of the 2015 Chinese Intelligent Systems Conference

Publisher: Springer Berlin Heidelberg

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Abstract

This paper considers an optimal consensus problem of second-order leader-follower multi-agent systems by using inverse optimality and LMI method. For a given control input, under the condition that the communication topology among followers is undirected connected, a positive definite matrix in a linear quadratic performance index function is obtained, which makes the linear quadratic performance index function to obtain the minimum value. Meanwhile, through theory analysis, we prove that the coefficient matrix of the given control input is the optimal feedback gain matrix. The simulation results show the effectiveness of our conclusions.

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Metadata
Title
LQR-Based Optimal Leader-Follower Consensus of Second-Order Multi-agent Systems
Authors
Zonggang Li
Tongzhou Zhang
Guangming Xie
Copyright Year
2016
Publisher
Springer Berlin Heidelberg
Book
Proceedings of the 2015 Chinese Intelligent Systems Conference

Print ISBN: 978-3-662-48363-3

Electronic ISBN: 978-3-662-48365-7

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-662-48365-7_36

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