Distributed LQ Control of a Water Delivery Canal Based on a Selfish Game

摘要

This article describes the design of distributed LQ controllers based on a linear model of a water delivery canal. According to a distributed strategy, a local control agent is associated to each gate of the canal. The main goal is to control the position of the gates in order to drive the water levels for each pool to variable references. For this purpose, local optimization problems are presented, that will be solved at each local controller. In order to achieve a consensus between agents, a coordination method, based on game theory, is presented, including its convergence analysis. The overall controller architecture is described. Simulations, illustrating scenarios in which the convergence conditions are satisfied, are presented.