Distributed Observer-based LQ Controller Design and Stabilization for Discrete-time Multi-agent Systems

  • Chunyan HanEmail author
  • Wei Wang
Regular Papers Control Theory and Applications


This paper will investigate the distributed observer-based LQ controller design and stabilization problem for uncoupled identical linear time-invariant multi-agent systems with a performance index coupling the behavior between the multi-agents. A design method is proposed by applying the decomposition of the global discrete-time algebraic Riccati equations. A computationally tractable solution can be obtained by solving four local algebraic Riccati equations which have the same dimensions as a single agent. The stability condition is given in terms of the spectrum of two matrices representing the desired sparsity pattern of the distributed controller and distributed observer. A limited overall performance can also be guaranteed by the proposed distributed controller which is parameterized by two scalars. To illustrate the effectiveness of the algorithm, a numerical example is provided.


Distributed linear quadratic control multi-agent system observer design robust stability 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.School of Electrical EngineeringUniversity of JinanJinan, ShandongP. R. China
  2. 2.School of Control Science and EngineeringShandong UniversityJinan, ShandongP. R. China

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