On Optimal Decentralized Control of Multi-agents Performing Cooperative Tasks

This study is concerned with optimal decentralized control of systems in which automated machines such as robots perform tasks cooperatively with humans, for HumanCentric Manufacturing. This paper especially discusses a design method of optimal controls for the decentralized control systems that perform cooperative tasks. Our method can design a quasi-optimal decentralized controller that considers the control efforts of all agents, whereas the existing methods could not take into account the control efforts of all agents appropriately. Finally, numerical simulations illustrate the effectiveness of our method. Copyright (c) 2023 The Authors.