A linear-quadratic coordination control procedure with event-based communication

This paper deals with infinite-horizon quadratic optimal control for coordinated linear systems, a particular class of hierarchical control systems with a top-to-bottom information structure. In contrast to the case of monolithic linear systems, the corresponding optimal control law is not a linear time-invariant state feedback. We derive an approximation to the optimal control law, combining a linear state feedback with event-based bottom-to-top communication. The performance of this control procedure is illustrated by simulations.