A Sparse Polytopic LPV Controller for FullyDistributed Nonlinear Optimal Control. In this paper we deal with distributed optimal control for nonlinear dynamical systems over graph, that is largescale systems in which the dynamics of each subsystem depends on neighboring states only. Starting from a previous work in which we designed a partially distributed solution based on a cloud, here we propose a fullydistributed algorithm. The key novelty of the approach in this paper is the design of a sparse controller to stabilize trajectories of the nonlinear system at each iteration of the distributed algorithm. The proposed controller is based on the design of a stabilizing controller for polytopic Linear Parameter Varying (LPV) systems satisfying nonconvex sparsity constraints. Thanks to a suitable choice of vertex matrices and to an iterative procedure using convex approximations of the nonconvex matrix problem, we are able to design a controller in which each agent can locally compute the feedback gains at each iteration by simply combining coefficients of some vertex matrices that can be precomputed offline. We show the effectiveness of the strategy on simulations performed on a multiagent formation control problem.

Robust Distributed Control Beyond Quadratic Invariance The problem of robust distributed control arises in several largescale systems, such as transportation networks and power grid systems. In many practical scenarios controllers might not have enough information to make globally optimal decisions in a tractable way. We propose a novel class of tractable optimization problems whose solution is a controller complying with any specified information structure. The approach we suggest is based on decomposing intractable information constraints into two subspace constraints in the disturbance feedback domain. We discuss how to perform the decomposition in an optimized way. The resulting control policy is globally optimal when a condition known as Quadratic Invariance (QI) holds, whereas it is feasible and it provides a provable upper bound on the minimum cost when QI does not hold. Finally, we show that our method can lead to improved performance guarantees with respect to previous approaches, by applying the developed techniques to the platooning of autonomous vehicles.