The topology structure of leader-follower MASs for optimal cost control

被引：0
|
作者：
Liu, Shuai [1 ]
Ji, Zhijian [1 ]
Yu, Haisheng [1 ]
Hou, Ting [2 ]
机构：
[1] Qingdao Univ, Coll Automat & Elect Engn, Qingdao 266071, Shandong, Peoples R China
[2] Shandong Univ Sci & Technol, Coll Math & Syst Sci, Qingdao 266590, Shandong, Peoples R China
来源：
2018 IEEE 8TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER) | 2018年
基金：
中国国家自然科学基金;
关键词：
HETEROGENEOUS MULTIAGENT SYSTEMS; CONSENSUS; CONTROLLABILITY;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the optimal topology is studied in continuous-time situation based on LQR theory for hybrid-weighted leader-follower multi-agent systems(MASs). The optimal topological structure corresponding to the first-order static leader is shown to be a hybrid weighted star structure and the optimal topological structure corresponding to the second-order dynamic leader is proved to be an uneven hybrid weighted star structure. We show that the optimal topology of the first-order (second-order) system can make the MASs achieve the bipartite consensus. The result of the paper points out that for a leader-follower multi-agent, the exchange of information among followers will increase the cost of system control as well as the necessary information communication between the leader and follower.
引用
收藏
页码：7 / 12
页数：6
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