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Optimal Decentralized Control with Delays.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	Optimal Decentralized Control with Delays./
Author:	Kashyap, Mruganka.
Description:	1 online resource (101 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 85-02, Section: B.
Contained By:	Dissertations Abstracts International85-02B.
Subject:	Systems science. -
Online resource:	click for full text (PQDT)
ISBN:	9798380158954

Optimal Decentralized Control with Delays.
Kashyap, Mruganka.

Optimal Decentralized Control with Delays. - 1 online resource (101 pages)

Source: Dissertations Abstracts International, Volume: 85-02, Section: B.

Thesis (Ph.D.)--Northeastern University, 2023.

Includes bibliographical references

We consider a cooperative control problem for a set of dynamically decoupled linear plants where their (output-feedback) sub-controllers communicate with each other according to a fixed and known network topology, to optimize a global objective. Each transmission is associated with a fixed time delay incurred due to information propagation and processing. This is a challenging problem because of the decentralized information-sharing pattern and because continuous-time delays do not have rational transfer functions. We provide an explicit closed-form expression for the optimal decentralized controller and its associated cost under these communication constraints and standard Linear Quadratic Gaussian (LQG) assumptions for the plants and cost function. We find the exact solution without discretizing or otherwise approximating the delays. We also present an implementation of each sub-controller that is efficiently computable and representable, is composed of standard finite-dimensional linear time-invariant (LTI) and finite impulse response (FIR) components, and has an intuitive observer-regulator architecture reminiscent of the classical separation principle.We also investigate the robustness properties of decentralized linear quadratic regulators (LQR). The classical, single-gent LQR compensators enjoy guaranteed stability margins, whereas LQG regulators do not. In the decentralized case, the optimal LQR compensator is dynamic and is similar to a classical LQG compensator. We show that when sub-controller input costs are decoupled (but there is possible coupling between sub-controller state costs), the decentralized LQR compensator enjoys similar guaranteed stability margins to classical LQR. However, these guarantees disappear when cost coupling is introduced.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2024

Mode of access: World Wide Web

ISBN: 9798380158954Subjects--Topical Terms:

1148479
Systems science.
Subjects--Index Terms:

Cooperative controlIndex Terms--Genre/Form:

554714
Electronic books.

Optimal Decentralized Control with Delays.
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500 $a Advisor: Lessard, Laurent.
502 $a Thesis (Ph.D.)--Northeastern University, 2023.
504 $a Includes bibliographical references
520 $a We consider a cooperative control problem for a set of dynamically decoupled linear plants where their (output-feedback) sub-controllers communicate with each other according to a fixed and known network topology, to optimize a global objective. Each transmission is associated with a fixed time delay incurred due to information propagation and processing. This is a challenging problem because of the decentralized information-sharing pattern and because continuous-time delays do not have rational transfer functions. We provide an explicit closed-form expression for the optimal decentralized controller and its associated cost under these communication constraints and standard Linear Quadratic Gaussian (LQG) assumptions for the plants and cost function. We find the exact solution without discretizing or otherwise approximating the delays. We also present an implementation of each sub-controller that is efficiently computable and representable, is composed of standard finite-dimensional linear time-invariant (LTI) and finite impulse response (FIR) components, and has an intuitive observer-regulator architecture reminiscent of the classical separation principle.We also investigate the robustness properties of decentralized linear quadratic regulators (LQR). The classical, single-gent LQR compensators enjoy guaranteed stability margins, whereas LQG regulators do not. In the decentralized case, the optimal LQR compensator is dynamic and is similar to a classical LQG compensator. We show that when sub-controller input costs are decoupled (but there is possible coupling between sub-controller state costs), the decentralized LQR compensator enjoys similar guaranteed stability margins to classical LQR. However, these guarantees disappear when cost coupling is introduced.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2024
538 $a Mode of access: World Wide Web
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650 4 $a Electrical engineering. $3 596380
653 $a Cooperative control
653 $a Decentralized control
653 $a Delay systems
653 $a Multi-agent systems
653 $a Optimal control
653 $a Robust control
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