Distributed Control of Networked Multi-Agent Systems Using Network Adapted Feedback Guaranteed Cost Equilibrium Controls

Abstract

This letter is concerned with the distributed control of networked multi-agent systems (MAS) with linear time-invariant dynamics and quadratic performance measures. As the MAS is networked, the information available to agents is restricted, and as a result, the full-state feedback controllers are not implementable. Using game theoretic framework, we model the distributed control problem as a networked differential game. We develop the notion of network adapted guaranteed cost equilibrium (NAGCE). The NAGCE controllers are distributed and achieve a given upper bound on the individual cost of agents while retaining an equilibrium property. We provide linear matrix inequality (LMI) based conditions for the existence of these controllers, and also provide an algorithm for synthesizing them. Finally, the proposed design methods are illustrated using numerical examples.