A Suboptimality Approach to Distributed Linear Quadratic Optimal Control

Junjie Jiao*, Harry L. Trentelman, M. Kanat Camlibel

*Bijbehorende auteur voor dit werk

OnderzoeksoutputAcademicpeer review

7 Citaten (Scopus)

Samenvatting

This note is concerned with a suboptimal version of the distributed linear quadratic optimal control problem for multiagent systems. Given a multiagent system with identical agent dynamics and an associated global quadratic cost functional, our objective is to design distributed control laws that achieve consensus and whose cost is smaller than an a priori given upper bound, for all initial states of the network that are bounded in norm by a given radius. A centralized design method is provided to compute such suboptimal controllers, involving the solution of a single Riccati inequality of dimension equal to the dimension of the agent dynamics, and the smallest nonzero and the largest eigenvalue of the Laplacian matrix. Furthermore, we relax the requirement of exact knowledge of the smallest nonzero and largest eigenvalue of the Laplacian matrix by using only lower and upper bounds on these eigenvalues. Finally, a simulation example is provided to illustrate our design method.

Originele taal-2English
Artikelnummer8736845
Pagina's (van-tot)1218-1225
Aantal pagina's8
TijdschriftIEEE Transactions on Automatic Control
Volume65
Nummer van het tijdschrift3
DOI's
StatusPublished - mrt-2020

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