Decentralized linear optimal control for cooperative networked teams via invariant subspace decomposition불변공간 분해기법을 이용한 네트워크 협업팀의 분산화 선형 최적제어기법

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dc.contributor.advisorChoi, Han-Lim-
dc.contributor.authorLee, Daniel-
dc.description학위논문(박사) - 한국과학기술원 : 항공우주공학과, 2022.8,[v, 98 p. :]-
dc.description.abstractIn this thesis, we consider decentralized cooperative control problems of linear systems. We propose the direct sum decomposition method of invariant subspaces, which enables us to model and investigate the decentralized control problems in a well-known control theory framework. The main advantage of this approach is that it provides insights and intuitions of the relative controllable and observable spaces of each subsystem and extends the Kalman decomposition technique into a graph representation. Based on this approach, we derive the separation condition for dynamic orthogonality through the Kalman filters based on the sequential separable principle of subsystems. We show that the certainty equivalence condition plays a vital role in decomposing the problem into several subproblems. Under the separable condition, we obtain the optimal decentralized control policy which, aggregates the solutions of decomposed independent centralized control policy of each subsystem. The optimal decentralized control policy is investigated to implicit and explicit output equations. This provides insight into applying decentralized control policy to various practical problems. The decentralized control policy is implemented by applying to cooperative guidance problems of the networked missile system. The decentralized optimal guidance laws are derived, and the performance and practical issues are investigated. We also proposed a practical way to utilize the decentralized guidance laws.-
dc.subjectDirect sum decomposition▼aInvariant subspace▼aNetworked teams system▼aDecentralized optimal linear controller▼aDecentralized optimal cooperative guidance-
dc.subject직합 분해기법▼a불변 공간▼a네트워크 협업팀 시스템▼a분산화 최적 선형 제어기법▼a분산화 최적협업 유도기법-
dc.titleDecentralized linear optimal control for cooperative networked teams via invariant subspace decomposition-
dc.title.alternative불변공간 분해기법을 이용한 네트워크 협업팀의 분산화 선형 최적제어기법-
dc.description.department한국과학기술원 :항공우주공학과,-
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