Optimal Leader-Following Tracking Control for Multiagent Systems: A Fully Distributed Approach

In this paper, we are interested in optimal leader-following tracking control for multiagent systems (MASs). First, we model the MASs as dynamic process in which multiple followers track a leader, where a topology containing only one directed spanning tree is utilized to describe the interaction between agents. Second, we propose a global cost function and assume that each agent in the system devotes to minimizing it. Meanwhile, we design a fully distributed optimal tracking control protocol to simultaneously guarantee the consensus of MASs and the optimization of the energy cost function. Finally, the validity of the theoretical algorithm is demonstrated by a numerical example.