On Separation of Distributed Estimation and Control for LTI Systems
Type
Conference PaperKAUST Department
Computer, Electrical and Mathematical Science and Engineering (CEMSE) DivisionElectrical and Computer Engineering Program
Date
2023-01-10Permanent link to this record
http://hdl.handle.net/10754/687022
Metadata
Show full item recordAbstract
The separation principle in a centralized estimation and control problem gives us the flexibility to design a feedback controller independent of the state estimator. However, the same principle does not hold when the estimation and control are distributed over a network of agents. In this case, the estimator may need to be redesigned when the controller is revised, which can be computationally expensive. We investigate a weaker notion of the separation principle in the distributed estimation and control of linear time-invariant (LTI) systems. As a main contribution, applying the small-gain theorem, we characterize the notion using matrix inequalities and compute a set of feedback controllers that agents in the network can adopt without redesigning the estimator. We also analyze how the frequency of information exchange between neighboring agents affects the characterization. We illustrate our analytical results through simulations of a multi-vehicle system problem.Citation
Savas, A. J., Park, S., Poor, H. V., & Leonard, N. E. (2022). On Separation of Distributed Estimation and Control for LTI Systems. 2022 IEEE 61st Conference on Decision and Control (CDC). https://doi.org/10.1109/cdc51059.2022.9992724Sponsors
Supported by the DoD through the NDSEG program, ONR grant N00014- 19-1-2556, funding from KAUST, and Princeton School of Engineering and Applied Science through the generosity of Lydia and William Addy ’82.Publisher
IEEEConference/Event name
2022 IEEE 61st Conference on Decision and Control (CDC)ISBN
978-1-6654-6762-9Additional Links
https://ieeexplore.ieee.org/document/9992724/https://ieeexplore.ieee.org/document/9992724/
https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=9992724
ae974a485f413a2113503eed53cd6c53
10.1109/CDC51059.2022.9992724