We consider a dynamically decoupled network of agents each with a local output-feedback controller. We assume each agent is a node in a directed acyclic graph and the controllers share information along the edges in order to cooperatively optimize a global objective. We develop explicit state-space formulations for the jointly optimal networked controllers that highlight the role of the graph structure. Specifically, we provide generically minimal agent-level implementations of the local controllers along with intuitive interpretations of their states and the information that should be transmitted between controllers.
@article{arxiv.1906.09297,
title = {Explicit Agent-Level Optimal Cooperative Controllers for Dynamically Decoupled Systems with Output Feedback},
author = {Mruganka Kashyap and Laurent Lessard},
journal= {arXiv preprint arXiv:1906.09297},
year = {2024}
}
Comments
Published at IEEE Conference on Decision and Control, 2019