Optimal controller synthesis for decentralized systems
Abstract/Contents
- Abstract
- Optimal control theory can be classified, broadly speaking, as either centralized or decentralized. Centralized systems are generally thought of as a single decision maker, taking all sensor measurements and deciding all actuator inputs. By contrast, decentralized systems are typically characterized by multiple subsystems which each make decisions based on different sets of information. Optimal control, as the name suggests, is aimed at finding control policies which minimize a particular norm of the closed-loop map. For centralized problems, the only constraint on the set of admissible control policies is that the resulting system be internally stable. These types of problems have been solved for quite some time, and a variety of methods now exist to explicitly construct the optimal policies. Decentralization imposes additional constraints on admissible policies. These constraints can, in many cases, make the optimization problem intractable. Thus, for decentralized problems, our goal is two-fold. First, we try to identify classes of systems for which tractable representations of the optimization problem exist. Second, we need to synthesize the optimal decentralized controllers. This research is focused at decentralized problems which are represented by subsystems connected over graphs. The decentralization property is given as sparsity constraints on the admissible control policies. For such systems, there exists a simple condition which is sufficient for tractability of the optimization problem. For these systems, we provide a method for constructing the optimal decentralized controllers. These results provide significant insight into the structure of the optimal controllers. Moreover, they establish the state dimension of the optimal policies.
Description
| Type of resource | text |
|---|---|
| Form | electronic; electronic resource; remote |
| Extent | 1 online resource. |
| Copyright date | 2011 |
| Publication date | 2010, c2011; 2010 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Associated with | Swigart, John Frederick |
|---|---|
| Associated with | Stanford University, Department of Aeronautics and Astronautics |
| Primary advisor | Lall, Sanjay |
| Thesis advisor | Lall, Sanjay |
| Thesis advisor | Boyd, Stephen P |
| Thesis advisor | Rock, Stephen M |
| Advisor | Boyd, Stephen P |
| Advisor | Rock, Stephen M |
Subjects
| Genre | Theses |
|---|
Bibliographic information
| Statement of responsibility | John Swigart. |
|---|---|
| Note | Submitted to the Department of Aeronautics and Astronautics. |
| Thesis | Thesis (Ph.D.)--Stanford University, 2011. |
| Location | electronic resource |
Access conditions
- Copyright
- © 2011 by John Frederick Swigart
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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