77,453 research outputs found
Optimal Distributed Controller Design with Communication Delays: Application to Vehicle Formations
This paper develops a controller synthesis algorithm for distributed LQG
control problems under output feedback. We consider a system consisting of
three interconnected linear subsystems with a delayed information sharing
structure. While the state-feedback case of this problem has previously been
solved, the extension to output-feedback is nontrivial, as the classical
separation principle fails. To find the optimal solution, the controller is
decomposed into two independent components. One is delayed centralized LQR, and
the other is the sum of correction terms based on additional local information.
Explicit discrete-time equations are derived whose solutions are the gains of
the optimal controller.Comment: Submitted to the 51nd IEEE Conference on Decision and Control, 201
Distributed Output-Feedback LQG Control with Delayed Information Sharing
This paper develops a controller synthesis method for distributed LQG control
problems under output-feedback. We consider a system consisting of three
interconnected linear subsystems with a delayed information sharing structure.
While the state-feedback case has previously been solved, the extension to
output-feedback is nontrivial as the classical separation principle fails. To
find the optimal solution, the controller is decomposed into two independent
components: a centralized LQG-optimal controller under delayed state
observations, and a sum of correction terms based on additional local
information available to decision makers. Explicit discrete-time equations are
derived whose solutions are the gains of the optimal controller.Comment: 25 pages, 3 figure
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