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LQR-Based Optimal Leader-Following Consensus of Heterogeneous Multi-agent Systems

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Proceedings of 2019 Chinese Intelligent Systems Conference (CISC 2019)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 594))

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Abstract

This paper studies optimal leader-following consensus of multi-agent systems based on linear-quadratic regulator (LQR). By applying matrix theory and linear-quadratic regulator theory, an optimal approach with the scaling factor is proposed for heterogeneous multi-agent systems which consist of first-order agents and second-order agents to reach consensus as well as minimize the cost function. Numerical simulations verify the validity of the conclusions in this paper.

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References

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Acknowledgements

The research is supported by the National Natural Science Foundation of China (61673200, 61771231), the Major Basic Research Project of Natural Science Foundation of Shandong Province of China (ZR2018ZC0438) and the Key Research and Development Program of Yantai City of China (2019XDHZ085).

Author information

Authors and Affiliations

  1. School of Information and Electrical Engineering, Ludong University, Yantai, 264025, Shandong, China

    Yuling Li, Hongyong Yang, Yuanshan Liu & Yujiao Sun

  2. Key Laboratory of Cyber-Physical System and Intelligent Control in Universities of Shandong, Ludong University, Yantai, China

    Yuling Li, Hongyong Yang, Yize Yang, Yuanshan Liu & Yujiao Sun

  3. School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney, NSW, 2052, Australia

    Yize Yang

Authors
  1. Yuling Li
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  2. Hongyong Yang
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  3. Yize Yang
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  4. Yuanshan Liu
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  5. Yujiao Sun
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Corresponding author

Correspondence to Hongyong Yang .

Editor information

Editors and Affiliations

  1. Beihang University, Beijing, China

    Yingmin Jia

  2. Beijing University of Posts and Telecommunications, Beijing, China

    Junping Du

  3. University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

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Li, Y., Yang, H., Yang, Y., Liu, Y., Sun, Y. (2020). LQR-Based Optimal Leader-Following Consensus of Heterogeneous Multi-agent Systems. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2019 Chinese Intelligent Systems Conference. CISC 2019. Lecture Notes in Electrical Engineering, vol 594. Springer, Singapore. https://doi.org/10.1007/978-981-32-9698-5_15

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