Multiagent LQR-based Control Design and Gain tuning for Quadcopters Fleet

An LQR-based Control design and gain tuning strategies proposals for a multi-agent system are presented in this article, the agents connected an undirected graph. Controller gains adjusted by selecting Q R weighting matrices of Linear Quadratic Regulator. Agreement (consensus) is one fundamental problems control, where set must agree on joint state value. In proposed design, first considering that behavior agreement protocol static, main objective to highlight complexity relationship between convergence properties structure adjacent interconnections. The effects formation due static geometry analyzed from resulting data according proximity agents, stability based desired through construction Laplacian matrix.