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Robustness properties of distributed configurations in multi-agent systems

Robustness properties of distributed configurations in multi-agent systems

Tomic, Ivana ORCID: 0000-0003-3502-5980 and Halikias, George D. (2016) Robustness properties of distributed configurations in multi-agent systems. In: 6th IFAC Symposium on System Structure and Control SSSC 2016. Elsevier, pp. 86-91. ISSN 2405-8963 (doi:https://doi.org/10.1016/j.ifacol.2016.07.500)

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Abstract

This paper considers a distributed LQR design framework for a multi-agent network consisting of identical dynamically decoupled agents. A systematic method is presented for computing the performance loss of various distributed control configurations relative to the performance of the optimal centralized controller. Necessary and sufficient conditions have been derived for which a distributed control configuration pattern arising from the optimal centralizing solution does not entail loss of performance if the initial vector lies in a certain subspace of state-space which is identified. It was shown that these conditions are always satisfied for systems with communication/control networks corresponding to complete graphs with a single link removed. A procedure is extended for analyzing the performance loss of an arbitrary distributed configuration which is illustrated by an exhaustive analysis of a network consisting of agents described by second-order integrator dynamics. Presented results are useful for quantifying performance loss due to decentralization and for designing optimal or near-optimal distributed control schemes.

Item Type: Conference Proceedings
Title of Proceedings: 6th IFAC Symposium on System Structure and Control SSSC 2016
Uncontrolled Keywords: Distributed control, linear quadratic regulator, multi-agent systems, robustness, performance cost
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 10:38
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/24399

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