Agent-level optimal LQG control of dynamically decoupled systems with processing delays
Agent-level optimal LQG control of dynamically decoupled systems with processing delays
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DOI：
10.1109/cdc42340.2020.9303979
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发表时间：
2020-09
期刊：
影响因子：
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通讯作者：
Mruganka Kashyap;Laurent Lessard
中科院分区：
文献类型：
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作者：
Mruganka Kashyap;Laurent Lessard
我们考虑一组动态解耦的植物的控制问题，其中植物的子控制器根据固定的和已知的网络拓扑结构相互通信。我们假设通信是瞬时的，但是与传入传输相关的处理延迟是固定的。我们提供了在这些通信约束下的最优分散控制器的显式封闭形式表达式，并使用标准LQG假设的对象和成本函数。虽然该问题具有凸性，但由于连续时间延迟的不合理性和分散的信息共享模式，该问题具有挑战性。我们展示了每个最优子控制器都有一个包含LTI和FIR块的观测器-调节器架构，并且我们描述了子控制器应该在网络中相互传输的信号。
We consider the problem of controlling a set of dynamically decoupled plants where the plants’ subcontrollers communicate with each other according to a fixed and known network topology. We assume the communication to be instantaneous but there is a fixed processing delay associated with incoming transmissions. We provide explicit closed-form expressions for the optimal decentralized controller under these communication constraints and using standard LQG assumptions for the plants and cost function. Although this problem is convex, it is challenging due to the irrationality of continuous-time delays and the decentralized information-sharing pattern. We show that the optimal subcontrollers each have an observer–regulator architecture containing LTI and FIR blocks and we characterize the signals that subcontrollers should transmit to each other across the network.