In this paper, we propose a distributed LQR control method, applicable to physically coupled systems, with a general-type cost function. Thanks to a novel suboptimal but distributed cost-to-go matrix update that enforces block-diagonality, the LQR gain matrix is structured, making the overall control scheme distributed. The proposed control scheme is totally distributed, scalable, and has self-tuning capabilities. The theoretical properties, including the stability of the so-obtained sub-optimal control scheme, are investigated. A case study is finally shown to illustrate the potentialities of the current scheme.

Suboptimal Distributed LQR Design for Physically Coupled Systems

Marcello Farina;
2020-01-01

Abstract

In this paper, we propose a distributed LQR control method, applicable to physically coupled systems, with a general-type cost function. Thanks to a novel suboptimal but distributed cost-to-go matrix update that enforces block-diagonality, the LQR gain matrix is structured, making the overall control scheme distributed. The proposed control scheme is totally distributed, scalable, and has self-tuning capabilities. The theoretical properties, including the stability of the so-obtained sub-optimal control scheme, are investigated. A case study is finally shown to illustrate the potentialities of the current scheme.
2020
21st IFAC World Congress on Automatic Control
AUT
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1159069
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