Optimal control of spatial interconnected systems

This paper investigates the optimal control of spatial interconnected systems with linear quadratic performance index. By introducing spatial variables and spatial shift operators, the interconnected systems can be discribed as a general state space expression. Then, the distributed controllers are designed on the basis of direct disassemble coordination arithmetic, which is more convenient for the controller synthesis. The controllers are quadratic optimal, considering both the transient process and the control energy. The simulation results illustrate the correctness of the method. Finally, the experiment results of three mobile robots' formation demonstrate the effectiveness and availability of the proposed method further.