1. Univ logo Performance analysis of distributed control configurations in LQR multi- agent system design Ivana Tomić Supervised by Professor George D. Halikias City University London UKACC PhD Presentation Showcase

2. Univ logo UKACC PhD Presentation Showcase Slide 2 Motivation Complex systems  Cooperation required for the coordinating behaviour Centralized solutions  Infeasible  Impractical Optimal! Distributed control  Local information exchange  Neighbouring sets Can we identify optimal or near- optimal schemes?

3. Univ logo UKACC PhD Presentation Showcase Slide 3 Problem Definition  Control of the multi-agent system with limited information available  Identical dynamically decoupled agents  Existing solution  LQR-based design  Size of a problem = max degree + 1 Guaranteed stabilizing controller, but there is performance loss.

4. Univ logo UKACC PhD Presentation Showcase Slide 4 Proposed Solution For single link cut configurations optimality always holds if the initial vector lies is a certain subspace of state-space which is identified. 12 3 4 12 3 4 Complete Graph vs. Single Link Cut Configurations Sufficient and necessary conditions have been derived for optimality and near-optimality of a specific distributed configurations. Results are verified on a formation of experimental UAVs described by 6-DOF dynamics.

5. Univ logo UKACC PhD Presentation Showcase Slide 5 Simulation Results Distributed control of linear and nonlinear UAV multi-agent system Integral control of linear and nonlinear UAV multi-agent system

6. Univ logo UKACC PhD Presentation Showcase Slide 6 Conclusion and future work  Project Outcomes:  Algorithm for finding near-optimal distributed configurations.  Extension to distributed control with integral action.  Can be successfully applied to high-order dynamical systems.  Future Work:  Generalize proofs for an arbitrary network.  H ∞ control of distributed configurations.