Sub-optimal distributed control law with H2 performance for identical dynamically coupled linear systems

In this study, a collection of agents performing a shared task making use of relative information communicated over an information network is considered. A two-step control design procedure for distributed control of such systems is proposed. The control law is guaranteed to provide a certain level of H2 performance at a network level. An analysis of the proposed control law in the presence of delays in the relative information is carried out to obtain a bound on the maximum delay possible.