# Explicit Agent-Level Optimal Cooperative Controllers for Dynamically Decoupled Systems with Output Feedback

## TL;DR

This paper develops explicit, optimal output-feedback controllers for a network of agents with decoupled dynamics, leveraging the graph structure to enable cooperative optimization of a global objective.

## Contribution

It introduces explicit state-space formulations for agent-level controllers in a networked setting with output feedback, emphasizing the role of the directed acyclic graph structure.

## Key findings

- Provides minimal agent-level controller implementations
- Highlights the importance of graph structure in controller design
- Offers intuitive interpretations of controller states and information flow

## Abstract

We consider a dynamically decoupled network of agents each with a local output-feedback controller. We assume each agent is a node in a directed acyclic graph and the controllers share information along the edges in order to cooperatively optimize a global objective. We develop explicit state-space formulations for the jointly optimal networked controllers that highlight the role of the graph structure. Specifically, we provide generically minimal agent-level implementations of the local controllers along with intuitive interpretations of their states and the information that should be transmitted between controllers.