Distributed and Localized Covariance Control of Coupled Systems: A System Level Approach

Abstract

This work is concerned with the finite-horizon optimal covariance steering of networked systems governed by discrete-time stochastic linear dynamics. In contrast with existing work that has only considered systems with dynamically decoupled agents, we consider a dynamically coupled system composed of interconnected subsystems subject to local communication constraints. In particular, we propose a distributed algorithm to compute the localized optimal feedback control policy for each individual subsystem, which depends only on the local state histories of its neighboring subsystems. Utilizing the system-level synthesis (SLS) framework, we first recast the localized covariance steering problem as a convex SLS problem with locality constraints. Subsequently, exploiting its partially separable structure, we decompose the latter problem into smaller subproblems, introducing a transformation to deal with nonseparable instances. Finally, we employ a variation of the consensus alternating direction method of multipliers (ADMM) to distribute computation across subsystems on account of their local information and communication constraints. We demonstrate the effectiveness of our proposed algorithm on a power system with 36 interconnected subsystems.