Optimal Consensus for High-Order Integrator Agents

Résumé fourni par la source

This paper focuses on the optimal design of a highorder consensus protocol applied to agents modeled with multiple integrators. Concretely, the problem addressed amounts to determining the optimal values for the coupling gains and for the weights of the directed graph edges, considering a given communication topology. An LQR-based cost function is proposed, which is obtained from the typical LQR cost function by taking the expectation over the initial system state, and a second-order method is then applied to determine the optimal parameters for the high-order consensus protocol. To that end, the evaluation of the cost and its derivatives is first described, to account for the particularities of the consensus problem, and the application of a truncated Newton method to the considered problem is then presented. Finally, the efficacy of the proposed approach is illustrated with examples.

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