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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2604.03490 |
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| _version_ | 1866913004494258176 |
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| author | McCurdy, Addie Collins, Isabel Jensen, Emily |
| author_facet | McCurdy, Addie Collins, Isabel Jensen, Emily |
| contents | An unconstrained optimal control policy is completely decentralized if computing actuation for each subsystem only requires information directly available to its own subcontroller. Parameters that admit a completely decentralized optimal controller have been characterized in a variety of systems, but attempts to physically explain the phenomenon have been limited. As a step toward a general characterization of complete decentralization, this paper presents conditions for complete decentralization of Linear Quadratic Regulators for several simple cases and physically interprets these conditions with illustrative examples. These simple cases are then leveraged to characterize complete decentralization of more complex systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2604_03490 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Conditions for Complete Decentralization of the Linear Quadratic Regulator McCurdy, Addie Collins, Isabel Jensen, Emily Systems and Control An unconstrained optimal control policy is completely decentralized if computing actuation for each subsystem only requires information directly available to its own subcontroller. Parameters that admit a completely decentralized optimal controller have been characterized in a variety of systems, but attempts to physically explain the phenomenon have been limited. As a step toward a general characterization of complete decentralization, this paper presents conditions for complete decentralization of Linear Quadratic Regulators for several simple cases and physically interprets these conditions with illustrative examples. These simple cases are then leveraged to characterize complete decentralization of more complex systems. |
| title | Conditions for Complete Decentralization of the Linear Quadratic Regulator |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2604.03490 |