Optimal consensus control of dynamically interconnected multi-agent systems: A SDRE approach for efficient and stable operation

This study focuses on achieving optimal consensus control based on the state-dependent Riccati equation (SDRE) in multi-agent systems (MASs) characterized by the interconnectivity of multiple sub-systems with physical interconnections. The objective is to establish a suitable communication topology among the MAS controllers that considers both local and global objectives while ensuring stability through distributed control. To address this, an innovative extension of leader-follower and leaderless consensus control methodologies is proposed, accompanied by stability analysis employing the Lyapunov method. Additionally, the paper explores consensus control for dynamically interconnected MASs handling suspended load transportation, such as multi-lift systems. By utilizing the principles of virtual work by D'Alembert and Gauss's principle of least constraint, a constrained multibody system model is developed, incorporating the Udwadia-Kalaba motion equation approach. Simulation results and theoretical analysis validate the efficiency and performance of the proposed consensus controller structure.