Optimal consensus control of multiple integrator systems
Abstract
As a core of multi-agent cooperative control, the consensus control problem has been extensively studied in recent years. The consensus control is designed based on distributed neighbor-to-neighbor interaction between agents so that the information states of all agents converge to a common value. This chapter presents the optimal consensus control integrated with obstacle avoidance using the inverse optimal control framework. Both single-integrator and double-integrator dynamics are considered as the model of the systems. Numerical examples are provided to showcase the effectiveness of the proposed algorithms.
Keywords
Optimal consensus control; Integrator systems; Obstacle avoidance ...
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