Optimal linear-consensus algorithms: an LQR perspective.
Laplacian matrices play an important role in linear-consensus algorithms. This paper studies optimal linear-consensus algorithms for multivehicle systems with single-integrator dynamics in both continuous-time and discrete-time settings. We propose two global cost functions, namely, interaction-free and interaction-related cost functions. With the interaction-free cost function, we derive the optimal (nonsymmetric) Laplacian matrix by using a linear-quadratic-regulator-based method in both continuous-time and discrete-time settings. It is shown that the optimal (nonsymmetric) Laplacian matrix corresponds to a complete directed graph. In addition, we show that any symmetric Laplacian matrix is inverse optimal with respect to a properly chosen cost function. With the interaction-related cost function, we derive the optimal scaling factor for a prespecified symmetric Laplacian matrix associated with the interaction graph in both continuous-time and discrete-time settings. Illustrative examples are given as a proof of concept.
Cao
Yongcan
Y
Electrical and Computer Engineering Department, Utah State University, Logan, UT 84322-4120, USA. yongcan.cao@aggiemail.usu.edu
Ren
Wei
W
D000465:Algorithms; D001185:Artificial Intelligence; D003198:Computer Simulation; D003661:Decision Support Techniques; D016014:Linear Models