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A broad class of networks of linear control systems are shown to be structurally sound in the sense that their information structure is quadratically invariant and they do not introduce structurally fixed modes. This class is characterized by a unit-delay assumption on communication and state update in the discrete-time domain, but otherwise covers all communication topologies. While quadratic invariance...
For multiagent networks described by undirected connectivity graphs, the problem of optimal distributed consensus without prior knowledge of global connectivity is considered. The problem is formulated as a decentralized linear quadratic game, and a linear dynamic feedback scheme that couples the tasks of learning the network topology and driving the network state is shown to solve the game and achieve...
For multi-agent networks described by fixed undirected connectivity graphs, the problem of optimal controller synthesis for distributed consensus is addressed without assuming prior knowledge about the global network topology. Under the proposed control scheme, the agents maintain a Nash equilibrium by updating their beliefs about the network topology over time and by computing their decisions via...
Synthesis of optimal controllers achieving finite-time consensus for a network of multiple agents described by a fixed connectivity graph is considered. The solution procedure involves posing a partially nested decentralized control problem and converting it to a constrained convex optimization problem invoking quadratic invariance. The dynamic feedback controller thus synthesized optimizes a transient...
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