Reverse Optimizing Consensus of Higher-Order Heterogeneous Linear Multiagent Systems Based on LQR method

This paper utilizes an optimum control theory based on LQR to optimize a cooperative control law that ensures the consensus of linear agents’ outputs. In the beginning, we study the consensus problem of higher-order heterogeneous linear networks. Then we will provide an analytic solution for the partial optimization problem of closed-loop cooperative systems consensus. Optimum control of multiagent systems has some complications. Since network dynamic depends on network graph topology and network topology should exist in optimum solution, we utilize the reverse optimization method. The analytic solution outcome demonstrated that the reverse optimization would successfully result in consensus.