Optimal Control of Multi-Agent Systems With Processing Delays

被引:2
作者
Kashyap, Mruganka [1 ]
Lessard, Laurent [2 ]
机构
[1] Northeastern Univ, Dept Elect & Comp Engn, Boston, MA 02115 USA
[2] Northeastern Univ, Dept Mech & Ind Engn, Boston, MA 02115 USA
基金
美国国家科学基金会;
关键词
Delays; Transfer functions; Linear systems; Finite impulse response filters; Costs; Vehicle dynamics; Cooperative control; decentralized control; delay systems; optimal control; DESIGN;
D O I
10.1109/TAC.2023.3346934
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this article, we consider a cooperative control problem involving a heterogeneous network of dynamically decoupled continuous-time linear plants. The (output-feedback) controllers for each plant may communicate with each other according to a fixed and known transitively closed directed graph. Each transmission incurs a fixed and known time delay. We provide an explicit closed-form expression for the optimal decentralized controller and its associated cost under these communication constraints and standard linear quadratic Gaussian assumptions for the plants and cost function. We find the exact solution without discretizing or otherwise approximating the delays. We also present an implementation of each subcontroller that is efficiently computable, and is composed of standard finite-dimensional linear time-invariant and finite impulse response components, and has an intuitive observer-regulator architecture reminiscent of the classical separation principle.
引用
收藏
页码:5141 / 5153
页数:13
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