Semi-decentralized optimal control of a cooperative team of agents

The main goal of this work is to design a decentralized optimal control for a team of multi-agents that can accomplish consensus in a leaderless structure. Towards this end, a semi-decentralized optimal control strategy is designed based on minimization of individual cost functions using local information and based on solving HJB equations. The interaction between agents due to information flow is modelled in characterization of dynamical model of each agent and for this purpose the control input is divided into two parts. One part is designed based on the agent's own state and the second part is a function of information from neighboring agents of each agent. Effectively, the consensus algorithm is derived in a formal way that is based on conventional control methodologies. Finally, the simulation results are presented to show effectiveness of the proposed method in achieving predefined requirements.