The Topology Structure of Leader-Follower MASs for Optimal Cost Control
Shuai Liu, Zhijian Ji, Haisheng Yu, Ting Hou · 2018
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.