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Distributed LQR Methods for Networks of Non-Identical Plants
Two well-established complementary distributed linear quadratic regulator (LQR) methods applied to networks of identical agents are extended to the non-identical dynamics case. The first uses a top-down approach where the centralized optimal LQR controller is approximated by a distributed control scheme whose stability is guaranteed by the stability margins of LQR control. The second consists of a bottom-up approach in which optimal interactions between self-stabilizing agents are defined so as to minimize an upper bound of the global LQR criterion. In this paper, local state-feedback controllers are designed by solving model-matching type problems and mapping all the agents in the network to a target system specified a priori. Existence conditions for such schemes are established for various families of systems. The single-input and then the multi-input case relying on the controllability indices of the plants are first considered followed by an LMI approach combined with LMI regions for pole clustering. Then, the two original top-down and bottom-up methods are adapted to our framework and the stability problem for networks of non-identical dynamical agents is solved. The applicability of our approach for distributed network control is illustrated via a simple example
Optimal control theory based design of elasto-magnetic metamaterial
A method to design a new type of metamaterial is presented. A two-step strategy to define an optimal long-range force distribution embedded in an elastic support to control wave propagation is considered.
The first step uses a linear quadratic regulator (LQR) to produce an optimal set of long-range interactions. In the second step, a least square passive approximation of the LQR optimal gains is determined. The paper investigates numerical solutions obtained by the previously described procedure. Finally, we discuss physical and engineering implications and practical use of the present study
Localized LQR Optimal Control
This paper introduces a receding horizon like control scheme for localizable
distributed systems, in which the effect of each local disturbance is limited
spatially and temporally. We characterize such systems by a set of linear
equality constraints, and show that the resulting feasibility test can be
solved in a localized and distributed way. We also show that the solution of
the local feasibility tests can be used to synthesize a receding horizon like
controller that achieves the desired closed loop response in a localized manner
as well. Finally, we formulate the Localized LQR (LLQR) optimal control problem
and derive an analytic solution for the optimal controller. Through a numerical
example, we show that the LLQR optimal controller, with its constraints on
locality, settling time, and communication delay, can achieve similar
performance as an unconstrained H2 optimal controller, but can be designed and
implemented in a localized and distributed way.Comment: Extended version for 2014 CDC submissio
Penalized flexible Bayesian quantile regression
Copyright © 2012 SciResThis article has been made available through the Brunel Open Access Publishing Fund.The selection of predictors plays a crucial role in building a multiple regression model. Indeed, the choice of a suitable subset of predictors can help to improve prediction accuracy and interpretation. In this paper, we propose a flexible Bayesian Lasso and adaptive Lasso quantile regression by introducing a hierarchical model framework approach to en- able exact inference and shrinkage of an unimportant coefficient to zero. The error distribution is assumed to be an infi- nite mixture of Gaussian densities. We have theoretically investigated and numerically compared our proposed methods with Flexible Bayesian quantile regression (FBQR), Lasso quantile regression (LQR) and quantile regression (QR) methods. Simulations and real data studies are conducted under different settings to assess the performance of the pro- posed methods. The proposed methods perform well in comparison to the other methods in terms of median mean squared error, mean and variance of the absolute correlation criterions. We believe that the proposed methods are useful practically
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