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We consider a dynamically decoupled network of agents each with a localoutput-feedback controller. We assume each agent is a node in a directedacyclic graph and the controllers share information along the edges in order tocooperatively optimize a global objective. We develop explicit state-spaceformulations for the jointly optimal networked controllers that highlight therole of the graph structure. Specifically, we provide generically minimalagent-level implementations of the local controllers along with intuitiveinterpretations of their states and the information that should be transmittedbetween controllers.

Explicit Agent-Level Optimal Cooperative Controllers for Dynamically Decoupled Systems with Output Feedback