2020/01/16 by Eleftherios E. Vlahakis, Vlahakis, Eleftherios, George Halikias +1
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Stability and Control of Uncertain Systems #Stability and Controllability of Differential Equations #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2001.05760
openalex publication_date 2020/01/16 · openalex created_date 2022/07/26 · openalex updated_date 2026/07/28
In this paper, network of agents with identical dynamics is considered. The\nagents are assumed to be fed by self and neighboring output measurements, while\nthe states are not available for measuring. Viewing distributed estimation as\ndual to the distributed LQR problem, a distributed observer is proposed by\nexploiting two complementary distributed LQR methods. The first consists of a\nbottom-up approach in which optimal interactions between self-stabilizing\nagents are defined so as to minimize an upper bound of the global LQR\ncriterion. In the second (top-down) approach, the centralized optimal LQR\ncontroller is approximated by a distributed control scheme whose stability is\nguaranteed by the stability margins of LQR control. In this paper, distributed\nobserver which minimizes an upper bound of a deterministic performance\ncriterion, is proposed by solving a dual LQR problem using bottom-up approach.\nThe cost function is defined by considering minimum-energy estimation theory\nwhere the weighting matrices have deterministic interpretation. The presented\nresults are useful for designing optimal or near-optimal distributed\ncontrol/estimation schemes.\n