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Different Types of Distributed Optimal Leader-Follower Consensus Protocol Design for a Class of High-Order Multi-Agent Systems

Document Type : Research article

Authors

Department of Electrical Engineering, Faculty of Engineering, University of Qom, Qom, Iran

Abstract

Different types of optimal leader-follower consensus of high-order multi-agent systems (MAS) under fixed, connected, and directed communication topology are presented in this paper. The dynamics of each agent including the followers and their corresponding leader is a linear high order system. First, the Linear Quadratic Regulator (LQR) problem is discussed to achieve the optimal consensus for high-order linear MAS with a guaranteed predefined phase and gain margin. Then stochastic leader-follower consensus problem of MAS in the presence of the Gaussian noise is designed. To tackle these problems, a set of fixed distributed control laws for each follower agent is designed, based on algebraic graph theory. Simulation results indicate the effectiveness of the proposed method and display the consensus in both cases via distributed control laws.

Highlights

  • The LQG methodology is simulated for stochastic leader-follower consensus of MAS in the presence of the Gaussian noise
  • This idea has not been investigated so far, especially for agents with high-order dynamics
  • The LQR methodology is employed to show the convergence of followers to leader optimally, while the communication link between the leader and its neighbors is fixed time

Keywords

Main Subjects

References
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Journal of Applied Research in Electrical Engineering
Volume 2, Issue 2
Summer and Autumn 2023
July 2023
Pages 136-144
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History
  • Receive Date: 29 July 2022
  • Revise Date: 27 August 2023
  • Accept Date: 03 October 2023
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