论文标题
通过处理延迟的动态解耦系统对代理级的最佳LQG控制
Agent-level optimal LQG control of dynamically decoupled systems with processing delays
论文作者
论文摘要
我们考虑控制一组动态脱钩的植物的问题，在该植物中，植物的子摄影剂根据固定和已知的网络拓扑相互通信。我们假设通信是瞬时的，但是与传入传输相关的固定处理延迟。我们在这些通信约束下为最佳分散控制器提供明确的闭合表达式，并使用植物和成本功能的标准LQG假设。尽管此问题是凸，但由于连续时间延迟的非理性和分散的信息共享模式，这是具有挑战性的。我们表明，最佳子构成器每个都有一个包含LTI和FIR块的观察者调节器体系结构，我们表征了子构造器应在整个网络中相互传输的信号。
We consider the problem of controlling a set of dynamically decoupled plants where the plants' subcontrollers communicate with each other according to a fixed and known network topology. We assume the communication to be instantaneous but there is a fixed processing delay associated with incoming transmissions. We provide explicit closed-form expressions for the optimal decentralized controller under these communication constraints and using standard LQG assumptions for the plants and cost function. Although this problem is convex, it is challenging due to the irrationality of continuous-time delays and the decentralized information-sharing pattern. We show that the optimal subcontrollers each have an observer-regulator architecture containing LTI and FIR blocks and we characterize the signals that subcontrollers should transmit to each other across the network.
