Abstract

A well-established distributed LQR method for decoupled systems is extended to the dynamically coupled case where the open-loop systems are dynamically dependent. First, a fully centralized controller is designed which is subsequently substituted by a distributed state-feedback gain with sparse structure. The control scheme is obtained by optimizing an LQR performance index with a tuning parameter utilized to emphasize/de-emphasize relative state difference between interconnected systems. Overall stability is guaranteed via a simple test applied to a convex combination of Hurwitz matrices, the validity of which leads to stable global operation for a class of interconnection schemes. It is also shown that the suboptimality of the method can be assessed by measuring a certain distance between two positive definite matrices which can be obtained by solving two Lyapunov equations.

Publication Type:	Article
Additional Information:	© 2019 the authors. This work has been accepted to IFAC for publication under a Creative Commons Licence CC-BY-NC-ND
Publisher Keywords:	distributed LQR, coupled linear systems, multi-agent control, networked control
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering
Departments:	School of Science & Technology > Engineering

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