The design and analysis of the distributed suboptimal controller

Author

Fangfang Zhang ; Wei Wang ; Huanshui Zhang

Author_Institution

Sch. of Control Sci. & Eng., Shandong Univ., Jinan, China

fYear

2014

Firstpage

1608

Lastpage

1613

Abstract

In this paper, the distributed suboptimal LQR control problem for multi-agent systems is considered. The distributed controllers which only use the information of its state and its neighbors´ are designed based on the topological structure of the system. The suboptimal feedback gain matrices are presented and the distributed suboptimal controllers are obtained by using the “averaged” optimization approach. The asymptotically convergence of the modified Riccati equation is proved for the infinite-time systems. Accordingly, the infinite-time distributed suboptimal controllers are presented.

Keywords

Riccati equations; control system analysis; control system synthesis; convergence; distributed control; feedback; linear quadratic control; matrix algebra; multi-robot systems; optimisation; suboptimal control; topology; asymptotic convergence; averaged optimization approach; controller analysis; controller design; distributed suboptimal LQR control problem; infinite-time distributed suboptimal controller; infinite-time system; modified Riccati equation; multiagent system; state information; suboptimal feedback gain matrices; system topological structure; Cost function; Decentralized control; Equations; Mathematical model; Multi-agent systems; Symmetric matrices; Distributed suboptimal controller; LQR control; Laplacian matrix; Multi-agent systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2014 11th World Congress on

Type

conf

DOI

10.1109/WCICA.2014.7052960

Filename

7052960