Distributed optimal analysis for the multi-agent system with hybrid protocols

In this paper, we present the distributed optimal analysis for the multi-agent system with hybrid protocols. By using a lemma which shows the optimality of a stable control for the hybrid system, we present sufficient conditions on the underlying topology and impulse matrix to guarantee that the distributed protocols can not only achieve consensus but also make desired performance index reach the optimal value. Simulation work is further shown to illuminate our theoretical results.