New Presentation in IFAC World Congress 2020
© 2020 EPFL
Our paper on distributed linear-quadratic regulator design for physically coupled sub-systems has been presented in the 1st Virtual IFAC World Congress (IFAC-V 2020)!
In this work, we propose a suboptimal distributed LQR control method, applicable to systems coupled through both physical interconnections and the quadratic cost to be minimized. The novelty is a suboptimal but distributed cost-to-go matrix update that enforces block-diagonality, which renders the suboptimal LQR gain matrix structured and makes the overall control scheme distributed. Moreover, the proposed control design algorithm is scalable and allows plug and play operation.
The screencast of the presentation can be found here.