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Distributed Observer-based LQ Controller Design and Stabilization for Discrete-time Multi-agent Systems

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  • Control Theory and Applications
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Abstract

This paper will investigate the distributed observer-based LQ controller design and stabilization problem for uncoupled identical linear time-invariant multi-agent systems with a performance index coupling the behavior between the multi-agents. A design method is proposed by applying the decomposition of the global discrete-time algebraic Riccati equations. A computationally tractable solution can be obtained by solving four local algebraic Riccati equations which have the same dimensions as a single agent. The stability condition is given in terms of the spectrum of two matrices representing the desired sparsity pattern of the distributed controller and distributed observer. A limited overall performance can also be guaranteed by the proposed distributed controller which is parameterized by two scalars. To illustrate the effectiveness of the algorithm, a numerical example is provided.

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Authors and Affiliations

  1. School of Electrical Engineering, University of Jinan, Jinan, Shandong, 250022, P. R. China

    Chunyan Han

  2. School of Control Science and Engineering, Shandong University, Jinan, Shandong, 250061, P. R. China

    Wei Wang

Authors
  1. Chunyan Han
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  2. Wei Wang
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Corresponding author

Correspondence to Chunyan Han.

Additional information

Recommended by Associate Editor Hyo-Sung Ahn under the direction of Editor Yoshito Ohta. This journal was supported by the National Natural Science Foundation of China (Grant Nos. 61473134, 61573220), the Postdoctoral Science Foundation of China (Grant No. 2017M622231), and the Fundamental Research Funds of Shandong University (Grant No. 2017JC009).

Chunhan Han received her Ph.D. degree in Control Theory and Control Engineering from Shandong University in 2010. She is currently an associate professor at the School of Electrical Engineering, University of Jinan. Her research interest covers optimal control and estimation, time delay systems, and Markov jump linear systems.

Wei Wang received his Ph.D. degree in Control Science and Engineering from Shenzhen Graduate School, Harbin Institute of Technology, in 2010. He is currently an associate professor at Shandong University. His research interests include optimal control and estimation for delayed systems, distributed control and estimation.

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Han, C., Wang, W. Distributed Observer-based LQ Controller Design and Stabilization for Discrete-time Multi-agent Systems. Int. J. Control Autom. Syst. 16, 1765–1774 (2018). https://doi.org/10.1007/s12555-017-0351-4

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  • DOI: https://doi.org/10.1007/s12555-017-0351-4

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