Truly Distributed Optimal Synchronization
Stefan van Dijk · 2019
In this thesis we consider the distributed linear quadratic optimal control problem for single integrator multi-agent systems. We show that optimal control gains depend on the graph structure of the system and hence the optimal control can only be computed globally. To overcome this problem we design a control protocol that minimizes local cost functions while still achieving consensus. Finally, we provide a simulation to compare the newly designed control protocol to that of the global optimum.