Hierarchical quasi-optimal control for multiple identical LTI subsystems with event-triggered cooperation.

This paper considers an optimal control problem for systems consisting of multiple identical continuous-time linear time-invariant subsystems. The cost function has a two-layer structure. It includes quadratic terms of an individual performance output and a cooperative performance output. The resulting optimal control input is accordingly composed of local feedback and cooperative feedback. To update the cooperative feedback in a discrete-time manner, the idea of event-triggered control is incorporated. A special triggering condition is proposed so that the cooperative feedback signal is updated frequently when the cooperative performance output takes large values. Effectiveness of the proposed control law is examined by numerical simulations.