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Distributed LQR Design for Dynamically Decoupled Systems

Borrelli, Francesco and Keviczky, Tamás (2006) Distributed LQR Design for Dynamically Decoupled Systems. In: Proceedings of the 45th IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 5639-5644. ISBN 1-4244-0171-2.

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We consider a set of identical decoupled dynamical systems and a control problem where the performance index couples the behavior of the systems. The coupling is described through a communication graph where each system is a node and the control action at each node is only function of its state and the states of its neighbors. A distributed control design method is presented which requires the solution of a single LQR problem. The size of the LQR problem is equal to the maximum vertex degree of the communication graph plus one. The design procedure proposed in this paper illustrates how stability of the large-scale system is related to the robustness of local controllers and the spectrum of a matrix representing the sparsity pattern of the distributed controller design problem.

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Additional Information:© 2006 IEEE.
Record Number:CaltechAUTHORS:20170502-173007416
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Official Citation:F. Borrelli and T. Keviczky, "Distributed LQR Design for Dynamically Decoupled Systems," Proceedings of the 45th IEEE Conference on Decision and Control, San Diego, CA, 2006, pp. 5639-5644. doi: 10.1109/CDC.2006.377294
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:77135
Deposited On:03 May 2017 15:43
Last Modified:15 Nov 2021 17:28

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