Robust decentralized control of large-scale systems with applications in cooperative control

当控制理论应用于由几个相互连接的组件组成的系统时，通常希望具有某种形式的去中心化。例如，这类问题出现在电力系统、通信网络、大型空间结构、机器人系统、经济系统和交通网络中，仅举几例。近年来，分散控制理论在编队飞行、水下航行器、自动高速公路、卫星星座等协同控制系统中得到了重要的应用。这一相对较新的研究方向是加拿大航天局、美国国家航空航天局和欧洲航天局在其当前和未来项目中非常感兴趣的。分散的控制结构降低了控制的计算复杂度，降低了协同控制系统各组成部分之间的通信需求。

When control theory is applied to a system that consists of several interconnected components, it is often desired to have some form of decentralization. Problems of this kind appear, for example, in electric power systems, communication networks, large space structures, robotic systems, economic systems and traffic networks, to name only a few. More recently, decentralized control theory has found important applications in the cooperative control systems such as formation flying, underwater vehicles, automated highway, satellite constellation, etc. This relatively new line of research is of a great interest for Canadian Space Agency, NASA and European Space Agency in their present and future projects. A decentralized control structure reduces the computational complexity of the control and the communication requirements between the components of a cooperative control system.