Discrete time consensus problem using optimal control
Jinyoung Lee, Jung‐Su Kim · 2009 ICCAS-SICE · 2009
This paper presents several design methods for consensus algorithm in discrete time formulation. To this end, we investigate a consensus condition and design a consensus algorithm based on the condition first. Second, it is discussed how a robust consensus algorithm can be designed using LQR (Linear Quadratic Regulator). Finally, a constrained consensus problem is introduced and a brief idea tackling the problem is described using MPC (Model Predictive Control).