Distributed Control of Linear Multi-Channel Systems

TL;DR

This paper presents a distributed observer-based control approach for multi-channel linear systems, enabling agents to independently achieve set-point control despite network delays, under joint controllability and observability conditions.

Contribution

It introduces a novel distributed control solution for multi-channel systems with strongly connected neighbor graphs, addressing set-point control and delay handling.

Findings

Distributed control system ensures stability under joint controllability and observability.

Agents can independently set system outputs to desired values.

Network delays can be managed within the proposed framework.

Abstract

A solution is given to the basic distributed feedback control problem for a multi-channel linear system assuming only that the system is jointly controllable, jointly observable and has an associated neighbor graph which is strongly connected. The solution is an observer-based control system which is implemented in a distributed manner. Using these ideas, a solution is also given to the distributed set-point control problem for a multi-channel linear system in which each and every agent with access to the system is able to independently adjust its controlled output to any desired set-point value. An example is given to briefly illustrate how network transmission delays might be dealt with.