Near-Optimal Distributed Linear-Quadratic Regulator for Networked Systems
Abstract
This paper studies the trade-off between the degree of decentralization and the performance of a distributed controller in a linear-quadratic control setting. We study a system of interconnected agents over a graph and a distributed controller, called κ-distributed control, which lets the agents make control decisions based on the state information within distance κ on the underlying graph. This controller can tune its degree of decentralization using the parameter κ and thus allows a characterization of the relationship between decentralization and performance. We show that under mild assumptions, including stabilizability, detectability, and a subexponentially growing graph condition, the performance difference between κ-distributed control and centralized optimal control becomes exponentially small in κ. This result reveals that distributed control can achieve near-optimal performance with a moderate degree of decentralization, and thus it is an effective controller architecture for large-scale networked systems.
Additional Information
© 2023 Society for Industrial and Applied Mathematics. The submitted manuscript has been created by UChicago Argonne, LLC, Operator of Argonne National Laboratory ("Argonne"). Argonne, a U.S. Department of Energy Office of Science laboratory, is operated under Contract No. DE-AC02-06CH11357. The U.S. Governmnent retains for itself, and others acting on its behalf, a paid-up nonexclusive, irrevocable worldwide license in said article to reproduce, prepare derivative works, distribute copies to the public, and perform publicly and display publicly, by or on behalf of the Government. This material is based upon work supported by the U.S. Department of Energy, Office of Science, Office of Advanced Scientific Computing Research (ASCR) under Contract DEAC02-06CH11347. We are grateful to the anonymous referees, whose comments greatly improved the paper.Attached Files
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Additional details
- Eprint ID
- 121808
- Resolver ID
- CaltechAUTHORS:20230613-731307200.40
- Department of Energy (DOE)
- DE-AC02-06CH11347
- Created
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2023-07-05Created from EPrint's datestamp field
- Updated
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2023-07-05Created from EPrint's last_modified field