Mobility

Optimal Cooperative Control of Dynamically Decoupled Systems

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Executive Summary

The authors consider optimal cooperative control problems where multiple dynamically decoupled players cooperate to optimize a coupled objective under limited communication between each player. They present the explicit optimal control in terms of the solutions to a series of Riccati equations, therefore it can be computed in a distributed manner via standard techniques. Numerical examples including a salvo guidance problem and a vehicle formation problem are described and explicitly solved. They consider linear quadratic optimal control problems for dynamically decoupled multiple players over communication networks, where each player measures corrupted information, and directed information flow over the communication graph is allowed.

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