can decentralized control outperform centralized? the role of communication latency

In this paper, we examine the influence of communication latency on performance of networked control systems. Even though distributed control architectures offer advantages in terms of communication, maintenance costs, and scalability, it is an open question how communication latency that varies wit...

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Bibliographic Details
Published in:IEEE transactions on control of network systems 2023-09, Vol.10 (3), p.1-11
Main Authors: Ballotta, Luca, Jovanovic, Mihailo R., Schenato, Luca
Format: Article
Language:English
Subjects:
Closed loops
Communication latency
Computer architecture
control architecture
Control design
Decentralized control
Delays
distributed control
Double integrators
Maintenance costs
Network control
Network latency
network optimization
Network systems
Network topologies
Power system stability
Topology
Vehicle dynamics
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Summary:In this paper, we examine the influence of communication latency on performance of networked control systems. Even though distributed control architectures offer advantages in terms of communication, maintenance costs, and scalability, it is an open question how communication latency that varies with network topology influences closed-loop performance. For networks in which delays increase with the number of links, we establish the existence of a fundamental performance trade-off that arises from control architecture. In particular, we utilize consensus dynamics with single- and double-integrator agents to show that, if delays increase fast enough, a sparse controller with nearest neighbor interactions can outperform the centralized one with all-to-all communication topology.
ISSN:2325-5870
2372-2533
DOI:10.1109/TCNS.2023.3237483