An edge-based event-triggered optimal control algorithm is proposed to solve the optimal output containment problem of general linear heterogeneous multi-agent systems. The proposed algorithm guarantees that the outputs of all followers enter into the convex hull formed by the outputs of leaders. At the same time, it can also render that the closed-loop system achieves the optimal performance and minimize the cost of control. Considering that the information of the leaders is unavailable to a part of followers, a distributed edge-based event-triggered observer is presented to estimate the trajectory for the interior point in the convex hull. In addition, a weighted performance function is designed to transform the output containment problem into the optimal state-feedback design problem. Based on the proposed function, the Bellman equation and algebraic Riccati equation are derived to solve the optimal output containment control problem of heterogeneous multi-agent systems. Multiple autonomous robots are employed as a group of multi-agent systems to verify the effectiveness of the proposed algorithm.
WANG Dong
,
WANG Zehua
,
LIU Yang
,
GU Dongbing
,
WANG Wei
. Event-triggered optimal containment control for heterogeneous multi-agent systems[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020
, 41(S1)
: 723775
-723775
.
DOI: 10.7527/S1000-6893.2019.23775
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