This paper presents an explicit solution to a two player distributed LQR problem in which communication between controllers occurs across a communication link with varying delay. We extend known dynamic programming methods to accommodate this varying delay, and show that under suitable assumptions, the optimal control actions are linear in their information, and that the resulting controller has piecewise linear dynamics dictated by the current effective delay regime.
|Original language||English (US)|
|Title of host publication||19th IFAC World Congress IFAC 2014, Proceedings|
|Editors||Edward Boje, Xiaohua Xia|
|Number of pages||6|
|State||Published - 2014|
|Event||19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa|
Duration: Aug 24 2014 → Aug 29 2014
|Name||IFAC Proceedings Volumes (IFAC-PapersOnline)|
|Other||19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014|
|Period||8/24/14 → 8/29/14|
Bibliographical noteFunding Information:
1 This research was in part supported by NSF Career award CCF-1350590, and by the NSF, AFOSR, ARPA-E, and the Institute for Collaborative Biotechnologies through grant W911NF-09-0001 from the U.S. Army Research Office. The content does not necessarily reflect the position or the policy of the Government, and no official endorsement should be inferred.
2A. Lamperski was supported by a grant from the Whitaker International Scholars Program.