Multi-Agent Distributed Collaborative Tracking Control Based on LQR Under Measurement Constraints

This paper studies the optimal control problem of collaborative tracking in a single leader multi-follower system with limited measurement capability. On the basis of existing research on multi-agent collaborative tracking based on linear quadratic regulator (LQR), improvements have been made to the traditional control law because of measurement limitations. Firstly, based on the quadratic performance index, the optimal control input for single leader multi-follower collaborative tracking control is designed using the LQR principle. Meanwhile, considering the limitations of the observation ability of agents, modify the control strategy form to match limited observation results, and obtain a structured feedback control strategy under measurement constraints. In the end, a simulation is conducted to illustrate the effectiveness of the proposed strategy.