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    Design Of Real-Time Implementable Distributed Suboptimal Control: An LQR Perspective

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    Type
    Article
    Authors
    Jaleel, Hassan
    Shamma, Jeff S. cc
    KAUST Department
    Computer, Electrical and Mathematical Sciences and Engineering (CEMSE) Division
    Electrical Engineering Program
    Date
    2017-09-29
    Permanent link to this record
    http://hdl.handle.net/10754/625514
    
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    Abstract
    We propose a framework for multiagent systems in which the agents compute their control actions in real time, based on local information only. The novelty of the proposed framework is that the process of computing a suboptimal control action is divided into two phases: an offline phase and an online phase. In the offline phase, an approximate problem is formulated with a cost function that is close to the optimal cost in some sense and is distributed, i.e., the costs of non-neighboring nodes are not coupled. This phase is centralized and is completed before the deployment of the system. In the online phase, the approximate problem is solved in real time by implementing any efficient distributed optimization algorithm. To quantify the performance loss, we derive upper bounds for the maximum error between the optimal performance and the performance under the proposed framework. Finally, the proposed framework is applied to an example setup in which a team of mobile nodes is assigned the task of establishing a communication link between two base stations with minimum energy consumption. We show through simulations that the performance under the proposed framework is close to the optimal performance and the suboptimal policy can be efficiently implemented online.
    Citation
    Jaleel H, Shamma JS (2017) Design Of Real-Time Implementable Distributed Suboptimal Control: An LQR Perspective. IEEE Transactions on Control of Network Systems: 1–1. Available: http://dx.doi.org/10.1109/TCNS.2017.2754362.
    Sponsors
    Research supported by funding from KAUST.
    Publisher
    Institute of Electrical and Electronics Engineers (IEEE)
    Journal
    IEEE Transactions on Control of Network Systems
    DOI
    10.1109/TCNS.2017.2754362
    Additional Links
    http://ieeexplore.ieee.org/document/8046098/
    ae974a485f413a2113503eed53cd6c53
    10.1109/TCNS.2017.2754362
    Scopus Count
    Collections
    Articles; Electrical and Computer Engineering Program; Computer, Electrical and Mathematical Science and Engineering (CEMSE) Division

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