Localized LQR optimal control
Localized LQR optimal control
复制标题
局部LQR最优控制
DOI：
10.1109/cdc.2014.7039638
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
J. Doyle
中科院分区：
文献类型：
--
作者：
Yuh;N. Matni;J. Doyle
针对可定位分布式系统，提出了一种滚动地平线控制方案，其中每个局部扰动的影响在空间和时间上都是有限的。我们用一组线性等式约束来刻画这类系统，并证明了所得到的可行性检验可以以局部和分布式的方式求解。我们还证明了局部可行性检验的解也可以用来综合一个滚动域控制器，该控制器也能以局部的方式获得期望的闭环系统响应。最后，我们描述了局部化LQR(LLQR)最优控制问题，并推导出最优控制器的解析解。通过一个数值算例，我们证明了LLQR最优控制器具有局部性、调整时间和通信时延的约束，可以获得与无约束ℋ-2最优控制器相似的性能，但可以以局部和分布式的方式设计和实现。
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.