Distributed Optimal Leader-Follower Consensus LQR Protocol Design for a Class of High Order Multi-AgentSystems under Time-Varying Topology Approach

In this paper, a leader-follower consensus of multi-agent systems under time-varying undi-rected communication topology is presented. The dynamics of each agent including the followers andtheir corresponding leader are considered as linear high order systems. Moreover, the communicationtopology between the agents and their neighbors depends upon bounded and time-varying functions.To tackle this problem, a set of time-varying distributed Linear Quadratic Regulator (LQR) controllerlaws for each follower are designed, based on algebraic graph theory and algebraic Riccati equation.The prede ned gain and phase margin are both guaranteed in the proposed methodology. Simula-tion results indicate the e ectiveness of the proposed method and display convergence to consensus isachieved in a nite time via time-varying distributed control laws.

Keywords:

Linear Quadratic Regulator (LQR) , multi-agent system , leader-follower consensus , time-varying topology