{"title":"Optimal distributed time-varying formation control for second-order multiagent systems: LQR-based method","authors":"","doi":"10.1016/j.isatra.2024.06.016","DOIUrl":null,"url":null,"abstract":"<div><p><span><span>The optimal leaderless and leader-following time-varying formation (TVF) control problems for second-order multiagent systems (MASs) are investigated, where two optimal TVF control protocols are proposed to achieve the desired formations as well as minimize the comprehensive optimization function that contain the cooperative performance index and the control energy index. For leaderless case, the optimal formation control problem is reformulated as an infinite-time state regulator problem by employing the state space decomposition method, which is subject to specified constraints on energy and performance indices, and the analytic criterion for optimal TVF achievability is subsequently proposed. Then, the results of optimal leaderless TVF control are extended to the leader-following case with switching topologies, where the main challenge is changed to find the </span>optimal controller rather than the optimal </span>gain matrix<span>, and the optimal value of the comprehensive index is accurately determined. Finally, two simulation cases are proposed to validate the effectiveness of the theoretical results, and comparisons with previous works are presented to expound the optimality of the proposed formation control method.</span></p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3000,"publicationDate":"2024-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"ISA transactions","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0019057824003033","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
The optimal leaderless and leader-following time-varying formation (TVF) control problems for second-order multiagent systems (MASs) are investigated, where two optimal TVF control protocols are proposed to achieve the desired formations as well as minimize the comprehensive optimization function that contain the cooperative performance index and the control energy index. For leaderless case, the optimal formation control problem is reformulated as an infinite-time state regulator problem by employing the state space decomposition method, which is subject to specified constraints on energy and performance indices, and the analytic criterion for optimal TVF achievability is subsequently proposed. Then, the results of optimal leaderless TVF control are extended to the leader-following case with switching topologies, where the main challenge is changed to find the optimal controller rather than the optimal gain matrix, and the optimal value of the comprehensive index is accurately determined. Finally, two simulation cases are proposed to validate the effectiveness of the theoretical results, and comparisons with previous works are presented to expound the optimality of the proposed formation control method.
期刊介绍:
ISA Transactions serves as a platform for showcasing advancements in measurement and automation, catering to both industrial practitioners and applied researchers. It covers a wide array of topics within measurement, including sensors, signal processing, data analysis, and fault detection, supported by techniques such as artificial intelligence and communication systems. Automation topics encompass control strategies, modelling, system reliability, and maintenance, alongside optimization and human-machine interaction. The journal targets research and development professionals in control systems, process instrumentation, and automation from academia and industry.