Observer-Based Controller Synthesis for Decentralized Networked Systems

An observer-based control synthesis for Decentralized Networked Control System (DNCS) is proposed, where the control loop is closed by a communication network. In the proposed approach, a designer first constructs a centralized static controller that accomplishes the design objective. Then, this centralized controller is implemented as a dynamic decentralized controller. The proposed decentralized controller is designed using Linear Matrix Inequalities (LMIs). The presence of the communication network modeled as a pure time-delay is analyzed. A sufficient condition on the duration of the network time-delay guaranteeing the stability of the DNCS is given. The obtained results are applied to the design of a decentralized system consisting of two remotely controlled mobile robots and simulation results are presented.