Optimal Control of Multi-Agent Systems with Delays

Mruganka Kashyap, Northeastern University
MCS Seminar Graphic

In this presentation,  we will be considering a cooperative (decentralized) control problem involving dynamically decoupled linear plants. The (output-feedback) controllers for each plant communicate with each other according to a fixed and known network topology, and each transmission incurs a fixed continuous-time processing delay. I obtain 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. The exact solution is determined without discretizing or otherwise approximating the delays. I will be presenting 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.