Optimal two player LQR state feedback with varying delay

Nikolai Matni, Andrew Lamperski, John C. Doyle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Scopus citations


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 languageEnglish (US)
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
EditorsEdward Boje, Xiaohua Xia
PublisherIFAC Secretariat
Number of pages6
ISBN (Electronic)9783902823625
StatePublished - 2014
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: Aug 24 2014Aug 29 2014

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670


Other19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Country/TerritorySouth Africa
CityCape Town

Bibliographical note

Funding 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.

Funding Information:
2A. Lamperski was supported by a grant from the Whitaker International Scholars Program.

Publisher Copyright:


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