Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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LQ Inverse Optimal Consensus Protocol for Continuous-Time Multi-Agent Systems and Its Application to Formation Control

연속시간 다개체 시스템에 대한 LQ-역최적 상태일치 프로토콜 및 군집제어 응용

  • Lee, Jae Young (Department of Electrical & Electronic Engineering, Yonsei University) ;
  • Choi, Yoon Ho (Department of Electronic Engineering, Kyonggi University)
  • Received : 2014.01.04
  • Accepted : 2014.02.04
  • Published : 2014.05.01
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Abstract

In this paper, we present and analyze a LQ (Linear Quadratic) inverse optimal state-consensus protocol for continuous-time multi-agent systems with undirected graph topology. By Lyapunov analysis of the state-consensus error dynamics, we show the sufficient conditions on the algebraic connectivity of the graph to guarantee LQ inverse optimality and closed-loop stability. A more relaxed stability condition is also provided in terms of the algebraic connectivity. Finally, a formation control protocol for multiple mobile robots is proposed based on the target LQ inverse optimal consensus protocol, and the simulation results are provided to verify the performance of the proposed LQ inverse formation control method.

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References

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