Tomic, Ivana ORCID: https://orcid.org/0000-0003-3502-5980 and Halikias, George D. (2016) Performance analysis of distributed control configurations in LQR multi-agent system design. In: 2016 UKACC 11th International Conference on Control (CONTROL). IEEE. ISBN 978-1467398923 (doi:10.1109/CONTROL.2016.7737530)

Preview

PDF (Author's Accepted Manuscript) 24397 TOMIC_Analysis_Of_Distributed_Control_Configurations_In_LQR_(AAM)_2016.pdf - Accepted Version Download (319kB) | Preview

Abstract

The paper considers a distributed Linear Quadratic Regulator (LQR) design framework for a network of identical dynamically decoupled multi-agent systems. It is known that in this case a stabilizing distributed controller for the network can be obtained by solving a centralized LQR problem whose size depends on the maximum vertex degree of the graph. A systematic method is presented for computing the performance loss of various distributed control configurations relative to the performance of the centralized controller. A procedure is developed for analyzing the performance loss for general distributed control configurations and state-space directions. It is also shown that by removing a single link we can always define a control configuration for which there is no performance loss, provided the initial state of the aggregate system lies in a particular direction of state-space which is identified. The results are illustrated by an exhaustive analysis of the network consisting of six identical agents.

Item Type:	Conference Proceedings
Title of Proceedings:	2016 UKACC 11th International Conference on Control (CONTROL)
Uncontrolled Keywords:	distributed control, LQR, multi-agent system design, UAVs
Subjects:	Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Faculty / School / Research Centre / Research Group:	Faculty of Engineering & Science > Internet of Things and Security Research Centre (ISEC) Faculty of Engineering & Science > School of Computing & Mathematical Sciences (CMS) Faculty of Engineering & Science
Last Modified:	04 Mar 2022 13:07
URI:	http://gala.gre.ac.uk/id/eprint/24397

Actions (login required)

View Item

Downloads