离散时间多智能体系统的协调最优预见跟踪

在互联拓扑包含一棵有向生成树的条件下，研究了离散时间多智能体系统的协调最优预见跟踪问题.首先利用状态增广技术把协调跟踪问题转化为一个增广系统的全局最优调节问题.然后应用离散时间线性二次型调节理论的相关结果给出了使增广系统的闭环系统渐近稳定的控制器，并由此得到原系统实现跟踪一致性的全局最优预见控制器.仿真结果不仅验证了所设计控制器的有效性，并且表明适当增加预见步长对保证准确跟踪领导者的输出是至关重要的. 

Cooperative optimal preview tracking control of discrete-time multi-agent systems

This study investigated the cooperative optimal preview tracking problem of discrete-time multi-agent systems under the assumption of the communication topology containing a directed spanning tree. First, a state augmentation technique was used to convert the cooperative preview tracking problem into a global optimal regulation problem of an augmented system. Second, by resorting to relative conclusions about the discrete-time linear quadratic regulation theory, an optimal controller was obtained, which can guarantee the asymptotic stability of the closed-loop augmented system. Moreover, a global optimal preview controller was provided in order for the original system to achieve the tracking consensus. Finally, the simulation results not only verified the effectiveness of the designed controller, but also indicated that it is critical for accurately tracking the reference signal to moderately increase the preview length.