H∞ Optimal Distributed Tracking Control Algorithm for Network Distributed Systems with an Application to UAV

In this work, a recursive algorithm has been developed for heterogeneous network distributed systems (NDS) communicating over an undirected network to solve H
∞
optimal distributed tracking control problem of continuous-time systems as a convex problem. Recent studies on NDS have studied the tracking control problem with decentralized performance functions defined for each subsystem in the network, on the contrary, a global performance function has been defined in this work for the whole NDS. An optimal distributed control problem has been defined as a sequential convex optimization problem benefiting off-policy reinforcement learning with sparsity constraints introduced on the symmetric positive definite matrix. Finally, the efficacy of the proposed algorithm is shown on a group of heterogeneous unmanned aerial vehicles (UAV) communicating over an undirected network.