Cooperative robust optimal control of uncertain multi-agent systems

This paper investigates the cooperative robust optimal control of linear multi-agent systems (MASs) with modeling uncertainties. A distributed controller that ensures the leader-following consensus of MASs and the robust optimization of cost function is presented. Using the proposed controller, the quadratic global cost function can be minimized to a specific optimal value, where the optimal solution is independent with uncertainties. Moreover, the presented approach is applied to tackle the unmanned surface vessel (USV) networks. The numerical examples are finally reported to show the effectiveness of presented protocol.