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Sub-optimal distributed control law with H2 performance for identical dynamically coupled linear systems

Sub-optimal distributed control law with H2 performance for identical dynamically coupled linear systems

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In this study, a collection of agents performing a shared task making use of relative information communicated over an information network is considered. A two-step control design procedure for distributed control of such systems is proposed. The control law is guaranteed to provide a certain level of H2 performance at a network level. An analysis of the proposed control law in the presence of delays in the relative information is carried out to obtain a bound on the maximum delay possible.

Inspec keywords: distributed control; H2 control; suboptimal control; delays; multi-robot systems; linear systems; control system synthesis

Other keywords: information network; H2 performance; network level; identical dynamically coupled linear systems; two-step control design procedure; suboptimal distributed control law; delays; relative information; control law analysis

Subjects: Control system analysis and synthesis methods; Robotics; Distributed parameter control systems; Optimal control

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