FINITE-TIME OPTIMAL CONSENSUS CONTROL FOR SECOND-ORDER MULTI-AGENT SYSTEMS

摘要

We propose an optimal consensus design method for solving a finite-time optimal control problem involving a second-order multi-agent system. With this method, the optimal consensus problem can be modeled as an optimal parameter selection problem with continuous state inequality constraints and free terminal time. By virtue of the constraint transcription method and a time scaling transform method, a gradient-based optimization algorithm is developed to solve this optimal parameter selection problem. Furthermore, a new consensus protocol is designed, by which the consensus value of the system velocity can be chosen to be an arbitrary value. For illustration, simulation studies are carried out to demonstrate the proposed method.