Suboptimal consensus protocol design for a class of multiagent systems

DOI10.1016/J.JFRANKLIN.2023.11.015zbMATH Open1530.93473arXiv2205.06008MaRDI QIDQ6136510FDOQ6136510

Tushar Jain, Avinash Kumar

Publication date: 17 January 2024

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Abstract: This article presents a new technique for suboptimal consensus protocol design for a class of multiagent systems. The technique is based upon the extension of newly developed sufficient conditions for suboptimal linear-quadratic optimal control design, which are derived in this paper by an explication of a noniterative solution technique of the infinite-horizon linear quadratic regulation problem in the Krotov framework. For suboptimal consensus protocol design, the structural requirements on the overall feedback gain matrix, which are inherently imposed by agents dynamics and their interaction topology, are recast on a specific matrix introduced in a suitably formulated convex optimization problem. As a result, preassigning the identical feedback gain matrices to a network of homogeneous agents, which acts on the relative state variables with respect to their neighbors is not required. The suboptimality of the computed control laws is quantified by implicitly deriving an upper bound on the cost in terms of the solution of a convex optimization problem and initial conditions instead of specifying it a priori. Numerical examples are provided to demonstrate the implementation of proposed approaches and their comparison with existing methods in the literature.

Full work available at URL: https://arxiv.org/abs/2205.06008

zbMATH Keywords

multiagent systemssuboptimal controllinear matrix inequalities (LMIs)Krotov frameworklinear-quadratic regulation (LQR)structured control designsuboptimal consensus protocol

Mathematics Subject Classification ID

Convex programming (90C25) Linear-quadratic optimal control problems (49N10) Multi-agent systems (93A16) Consensus (93D50)

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