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Cooperative optimal control for Lipschitz nonlinear systems over generally directed topologies
Automatica ( IF 6.4 ) Pub Date : 2020-09-22 , DOI: 10.1016/j.automatica.2020.109279
Zhuo Zhang , Huiping Li , Yang Shi , Shouxu Zhang , Weisheng Yan

This paper studies the cooperative optimal control for multi-agent systems (MASs) with Lipschitz nonlinearities over general digraphs. The leader-following consensus model consisting of multiple followers and one leader is constructed. Distributed optimal control protocols using the linear quadratic regulator approach are designed. Under the proposed protocols, the performance index of the MAS is optimized by solving the algebraic Riccati equation (ARE). The weighting matrices of performance index rely on the Lipschitz nonlinearities, leading to optimal performance. Simulation studies are finally reported to illustrate the effectiveness of presented protocols.



中文翻译:

广义定向拓扑上Lipschitz非线性系统的协同最优控制

本文研究了一般有向图上具有Lipschitz非线性的多智能体系统(MAS)的协同最优控制。建立了由多个关注者和一个领导者组成的领导者跟随共识模型。设计了使用线性二次调节器方法的分布式最优控制协议。在提出的协议下,通过求解代数Riccati方程(ARE)来优化MAS的性能指标。性能指标的加权矩阵依赖于Lipschitz非线性,从而获得最佳性能。最后报告了仿真研究,以说明所提出协议的有效性。

更新日期:2020-09-24
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