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Performance analysis of distributed control configurations in LQR multi-agent system design

Performance analysis of distributed control configurations in LQR multi-agent system design

Tomic, Ivana ORCID: 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:https://doi.org/10.1109/CONTROL.2016.7737530)

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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 / Department / Research Group: Faculty of Architecture, Computing & Humanities
Faculty of Architecture, Computing & Humanities > Department of Computing & Information Systems
Faculty of Architecture, Computing & Humanities > Internet of Things and Security (ISEC)
Last Modified: 15 Aug 2019 10:03
Selected for GREAT 2016: None
Selected for GREAT 2017: None
Selected for GREAT 2018: None
Selected for GREAT 2019: None
URI: http://gala.gre.ac.uk/id/eprint/24397

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