Abstract
In this letter we consider the distributed lin-
ear quadratic (LQ) control problem for networks of agents
with single integrator dynamics. We first establish a general
formulation of the distributed LQ problem and show that
the optimal control gain depends on global information on
the network. Thus, the optimal protocol can only be com-
puted in a centralized fashion. In order to overcome this
drawback, we propose the design of protocols that are com-
puted in a decentralized way. We will write the global cost
functional as a sum of local cost functionals, each asso-
ciated with one of the agents. In order to achieve “good”
performance of the controlled network, each agent then
computes its own local gain, using sampled information
of its neighboring agents. This decentralized computa-
tion will only lead to suboptimal global network behavior.
However, we will show that the resulting network will reach
consensus.
ear quadratic (LQ) control problem for networks of agents
with single integrator dynamics. We first establish a general
formulation of the distributed LQ problem and show that
the optimal control gain depends on global information on
the network. Thus, the optimal protocol can only be com-
puted in a centralized fashion. In order to overcome this
drawback, we propose the design of protocols that are com-
puted in a decentralized way. We will write the global cost
functional as a sum of local cost functionals, each asso-
ciated with one of the agents. In order to achieve “good”
performance of the controlled network, each agent then
computes its own local gain, using sampled information
of its neighboring agents. This decentralized computa-
tion will only lead to suboptimal global network behavior.
However, we will show that the resulting network will reach
consensus.
| Original language | English |
|---|---|
| Pages (from-to) | 67 - 72 |
| Number of pages | 6 |
| Journal | IEEE Control Systems Letters |
| Volume | 4 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 1-Jan-2020 |