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>H 2 optimal Cooperation of Homogeneous Agents Subject to Delyed Information Exchange **This research was supported by the Bernard M. Gordon Center for Systems Engineering at the Technion
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H 2 optimal Cooperation of Homogeneous Agents Subject to Delyed Information Exchange **This research was supported by the Bernard M. Gordon Center for Systems Engineering at the Technion
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机译：H 2 进行可靠信息交换的同质代理的最佳合作 * * 这项研究得到了Technion的Bernard M. Gordon系统工程中心的支持
We consider a class of large-scale H 2 coordination problems where subsystems are coupled through a penalty on their average behavior and the information exchange between agents is subject to a time delay. We derive explicit analytic expressions for the optimal control law and show that it is scalable both in terms of implementation and the computational effort required to obtain it. Specifically, the only centralized information processing required to implement the controller is averaging of local agent information, and the computational effort required to obtain it scales linearly with the number of agents. These results are a highly non-trivial extension to two previously studied special cases, where the information exchange is either delay-free or the coordination constraints are hard.
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