论文标题
通过处理延迟对多代理系统的最佳控制
Optimal Control of Multi-Agent Systems with Processing Delays
论文作者
论文摘要
在本文中，我们考虑了一个合作控制问题，该问题涉及一个动态脱钩的连续线性植物的异质网络。每种工厂的（输出反馈）控制器可以根据固定和已知的透明封闭的有向图相互通信。每个变速箱都会造成固定和已知的时间延迟。我们为这些通信限制下的最佳分散控制器及其相关成本提供明确的闭合表达，并为植物和成本功能提供了标准的线性二次高斯（LQG）假设。我们找到了确切的解决方案，而无需离散或以其他方式近似延迟。我们还提供了有效计算的每个子控制器的实现，并且由标准有限维线性时间不变（LTI）和有限脉冲响应（FIR）组件组成，并且具有直觉的观察者调节器 - 调节器架构，让人想起经典的分离原理。
In this article, we consider a cooperative control problem involving a heterogeneous network of dynamically decoupled continuous-time linear plants. The (output-feedback) controllers for each plant may communicate with each other according to a fixed and known transitively closed directed graph. Each transmission incurs a fixed and known time delay. 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 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.
