A distributed control law with guaranteed LQR cost for identical dynamically coupled linear systems

This paper considers a collection of agents per forming a shared task making use of relative information communicated over an information network. A two step design procedure for distributed state feedback control of such systems is proposed. The control law is guaranteed to provide a certain level of performance in terms of an LQR cost at a network level. An analysis of the proposed control law in the presence of delays in the relative information is carried out to obtain a bound on the maximum delay that can be accommodated.