This paper studies the consensus control of linear multi-agent systems with optimal performance index on directed communication topologies. The consensus control protocols relying on the relative information between the agent and its neighbours are presented, and both the leaderless and leader-following cases are investigated. The global optimization of performance index is achieved with the presented control protocols by solving the algebraic Riccati equation (ARE), and the ARE can be solved without knowing the global information of communication topologies. The numerical examples are finally reported to illustrate the efficiency of the proposed protocols.

中文翻译：

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在定向拓扑上具有最佳性能的线性系统的共识控制

本文研究了在定向通信拓扑上具有最佳性能指标的线性多智能体系统的共识控制。提出了依赖于代理与其邻居之间的相对信息的共识控制协议，并研究了无领导者和领导者跟随的情况。使用所提出的控制协议，通过求解代数Riccati方程（ARE），可以实现性能指标的全局优化，并且可以在不知道通信拓扑的全局信息的情况下求解ARE。最后报告了数值示例，以说明所提出协议的效率。