Localized distributed optimal control with output feedback and communication delays
Localized distributed optimal control with output feedback and communication delays
复制标题
具有输出反馈和通信延迟的局部分布式最优控制
DOI：
10.1109/allerton.2014.7028511
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
N. Matni
中科院分区：
文献类型：
--
作者：
Yuh;N. Matni
本文提出了一种具有时滞的可局部分布系统的输出反馈控制方案，即尽管控制器之间存在通信延迟，但过程噪声和传感器噪声的影响都可以在闭环中局部化的系统。通过将分布式最优控制问题用从传感器和过程噪声到受控输出的闭环传递矩阵的形式重新表述，我们将最优局部分布式控制问题转化为有限维仿射约束凸规划。我们还展示了如何合成控制器以实现所需的闭环响应，并且控制器可以以局部和可扩展的方式实现，这在将该方案应用于大规模系统时是必不可少的。仿真结果表明，对于某些系统，我们的最优控制器在局域性、稳定时间和通信延迟的约束下，可以达到与集中式最优控制器相似的性能。
This paper presents an output feedback control scheme for localizable distributed systems subject to delay, that is to say systems for which the effect of both process noise and sensor noise can be localized in closed loop despite communications delays between controllers. By reformulating the distributed optimal control problem in terms of the closed loop transfer matrices from sensor and process noise to controlled output, we cast the optimal localized distributed control problem as a finite dimensional affinely constrained convex program. We additionally show how to synthesize the controller achieving the desired closed loop response, and that the controller can be implemented in a localized and thus scalable manner, which is essential when applying the scheme to large scale systems. Simulation shows that for certain systems, our optimal controller, with its constraints on locality, settling time, and communication delay, can achieve similar performance to a centralized optimal one.