H2 suboptimal leader-follower consensus control of multi-agent systems
Yuan Gao, Junjie Jiao, Sandra Hirche · IFAC-PapersOnLine · 2023
In this paper, we investigate the distributed H2 suboptimal leader-follower consensus control problem for linear multi-agent systems using dynamic output feedback. By considering an autonomous leader, a number of followers, and an associated H2 cost functional, we aim to design a distributed protocol to ensure that the leader-follower consensus is achieved while the associated H2 cost is smaller than an a priori given upper bound. To this end, we first show that the H2 suboptimal leader-follower consensus control problem can be equivalently derived as the H2 suboptimal control problem of a set of independent systems. Based on this, we then present a design method for computing a distributed protocol. The computation of the feedback gains involves two Riccati inequalities whose dimension matches the state dimension of the agents. A simulation example is provided to demonstrate the performance of the proposed protocol.