SCIENCE CHINA Information Sciences, Volume 64 , Issue 10 : 209201(2021) https://doi.org/10.1007/s11432-018-9879-3

Distributed optimal consensus of second-order multi-agent systems

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  • ReceivedDec 16, 2018
  • AcceptedApr 17, 2019
  • PublishedJul 8, 2020


There is no abstract available for this article.


This work was supported by National Natural Science Foundation of China (Grant Nos. 61873146, 61703237) and Taishan Scholars Climbing Program of Shandong Province.


Appendixes A and B.


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  • Figure 1

    Digraph of one chain.


    Algorithm 1 Find optimal gain parameters

    Implement the parameterization of cost functional by (6).

    Calculate $\frac{\partial~J_u(e(0))}{\partial~k_i}=0$ and $\frac{\partial~J_u\!(e(0))}{\partial~l_i}=0$to derive all extreme points.

    Compute the corresponding value of $J_u(e(0))$ at each extreme point.

    Derive the minimum $J_u(e(0))$ and the corresponding optimal gain parameters $k_{i}$ and $l_i$.