Design of Robust Distributed Control Schemes with Applications to Multi-Agent Systems

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The problem of controlling an interconnected large-scale system by means of structurally constrained controllers is considered in this proposal. In many physical systems such as sensor networks, power systems, coordinated motion of automated vehicles and traffic networks, the interacting subsystems are geographically dispersed. Usually, traditional centralized control for this type of system is not as efficient, due to the distributed nature of the network and also the complexity of the required on-line computations. Furthermore, continuous transmission of data from the subsystems to the controller and vice versa is typically expensive. Another obvious disadvantage of such structure is that the resultant closed-loop system has a single point of failure. In a distributed control structure, on the other hand, one can generate the control input of each subsystem by only concentrating on those outputs which have a relatively high impact on the corresponding subsystem (through interconnections). This reduces the complexity of the computations, and at the same time improves the efficiency of the control topology.