Distributed LQR design for identical dynamically decoupled systems

Journal article (2008)

Authors

F Borrelli External organisation
T. Keviczky DISC - Mechanical, Maritime and Materials Engineering
Research Group
DISC (Mechanical, Maritime and Materials Engineering) (TU Delft)
More Info
expand_more

Published Date

2008

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

DISC

Abstract

We consider a set of identical decoupled dynamical systems and a control problem where the performance index couples the behavior of the systems. The coupling is described through a communication graph where each system is a node and the control action at each node is only function of its state and the states of its neighbors. A distributed control design method is presented which requires the solution of a single linear quadratic regulator (LQR) problem. The size of the LQR problem is equal to the maximum vertex degree of the communication graph plus one. The design procedure proposed in this paper illustrates how stability of the large-scale system is related to the robustness of local controllers and the spectrum of a matrix representing the desired sparsity pattern of the distributed controller design problem.