Distributed Optimal Tracking Control for Second-Order Multi-Agent Systems
In this paper,we study the optimal tracking problem for the multi-agent systems in which both the cost function and the tracking time are considered.The tracking problem is considered in two patterns: the first one has a virtual leader which is the root of the information graph; the second one has a time-varying leader whose dynamics is given in advance.Both of the patterns are on the condition that only a portion of the agents can get the state information of the leader.For the required tracking time,an open-loop optimal controller is obtained using Pontryagins minimum principle and only depends on the relative information with respect to the neighboring agents.Considering the disturbance in the initial conditions or in the control input,it is necessary to convert the open loop control into the feedback optimal control by regarding the initial state as the current state and setting the initial time equal to the current time.Finally,the validity of the result is illustrated through some numerical examples.
Finite-time tracking Optimal Multi-agent systems
SUN Junyong GENG Zhiyong LIU Yongfang
State Key Laboratory for Turbulence and Complex Systems of Peking University Department of Mechanics and Aerospace Engineering,College of Engineering,Peking University Beijing 100871,P.R.China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
1225-1230
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）