Optimal Affine Formation Control of Linear Multi-agent System
Okechi Onuoha, Hilton Tnunay, Zhenghong Li, Zhengtao Ding · 2019
This paper considers the optimal affine formation control of linear multi-agent systems. Existing works are limited to the linear multi-agent system case where the input and system matrices are respectively the identity and zero matrices. In this paper, we relax these requirements and propose a globally optimal scheme with respect to some performance indexes, based on a Linear Quadratic Regulator, for the affine formation control of a linear multi-agent system. Inverse optimality strategy is used to design the control law to minimize some performance index and to stabilize all follower agents to their respective target positions. The result provides a technique to control an entire formation of multi-agent system by controlling only a few agents. A simulation example is provided to illustrate the effectiveness of the control design.