Distributed Optimal Leader-Follower Consensus Protocol Design for a Class of High Order Multi-Agent System:Fixed-Time Topology Approach

Abstract: An optimal leader-follower consensus of high order multi-agent systems (MAS) under xed,connected and directed communication topology is presented in this paper. The dynamics of eachagent including the followers and their corresponding leader is a linear high order system. LinearQuadratic Regulator (LQR) is designated to achieve the optimal consensus for high order linear MASwith guaranteed the prede ned both phase and gain margin. To tackle this problem, a set of xeddistributed control laws for each follower agent is designed, based on algebraic graph theory. Simulationresults indicate the e ectiveness of the proposed method and display the consensus via distributedcontrol laws.

Keywords:

LQR Controller , multi-agent systems , leader-follower consensus , xed topology