Optimal topology design and distributed formation control of multiagent systems with complex‐weights directed networks
Ali Ghasemi, Mohammad Bagher Menhaj, Javad Askari, Maziar Ebrahimi Dehshalie · Optimal Control Applications and Methods · 2020
Summary In this article, we consider the optimal topology design and distributed formation control problem of multiagent systems (MAS) with complex‐weighted directed topology. First, a framework is proposed to associate optimal topology of MAS to a constrained optimization problem with a complex Laplacian matrix, which is independent of the agent dynamics. The main contribution of the proposed approach compared with existing results is that the proposed approach does not require the calculation of the stabilizing matrix such that the closed‐loop system is asymptotically stable, and a unique set of complex weights that satisfy associated cooperative conditions can be chosen. Then, a distributed formation control protocol is proposed to enable all agents to achieve the control goal. Finally, some numerical example results are provided to demonstrate the effectiveness of the proposed scheme.