Fully Distributed Control of Linear Systems With Optimal Cost on Directed Topologies
Zhuo Zhang, Huiping Li, Weisheng Yan · IEEE Transactions on Circuits & Systems II Express Briefs · 2020
This brief investigates the fully distributed optimal control of linear multi-agent systems on generally directed topologies. Considering the existence of disturbances, a dynamical sliding-mode control protocol is designed. The optimization of energy-cost performance is achieved by solving a topology-free algebraic Riccati equation. The presented control protocol is independent with the global information of topologies, and each agent can manage its protocol in a fully distributed way. A numerical example is finally reported to show the efficiency of presented protocol.