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摘要
This paper investigates the optimal control design methodology for linear systems which are collaboratively manipulated by multiple agents based on choices such that certain team targets are achieved. By minimizing the average energy cost subject to the set of specified target-state constraints based on modern variation theory and the Lagrange method, a series of optimal control solutions are established for linear scalar and vector systems jointly controlled by two agents. In addition, a set of sub-optimal controls are derived, which can lead to a tight upper bound on the average energy cost.
