The design and analysis of the distributed suboptimal controller

In this paper, the distributed suboptimal LQR control problem for multi-agent systems is considered. The distributed controllers which only use the information of its state and its neighbors' are designed based on the topological structure of the system. The suboptimal feedback gain matrices are presented and the distributed suboptimal controllers are obtained by using the “averaged” optimization approach. The asymptotically convergence of the modified Riccati equation is proved for the infinite-time systems. Accordingly, the infinite-time distributed suboptimal controllers are presented.