Specified-Time Distributed Control for Multiagent Systems Over Undirected and Directed Graphs: A Linear Operator Theoretic Framework
本文针对一般线性多智能体系统，基于线性算子理论设计指定时间最优控制器，并推导了无向和有向图下的次优分布式控制器，分析了通信拓扑对能耗的影响，为不同能量预算的应用提供了性能评估。
This article focuses on the performance analysis of distributed controllers for general linear multiagent systems in the sense of convergence time and energy consumption. First, the specified-time optimal controller is obtained using the linear operator theory-based method, and then the optimal topology is deduced. Second, to analyze the impact of communication topology on energy consumption, two distributed, suboptimal specified-time controllers are developed for undirected and directed graphs, respectively. By utilizing the inverse optimality method and Lyapunov function scaling, the performance in terms of the bounds of the gaps between the energy consumption of the suboptimal and optimal control laws is derived, which evaluates the effectiveness of the suboptimal controllers. Finally, as the simulation results show, the performance can specify appropriate settling times for applications with different energy budgets and facilitate optimizing the communication topology to reduce the energy gap.