Optimal Two Player LQR State Feedback With Varying Delay
  This paper presents an explicit solution to a two player distributed LQR problem in which communication between controllers occurs across a communication link with varying delay. We extend known dynamic programming methods to accommodate this varying delay, and show that under suitable assumptions, the optimal control actions are linear in their information, and that the resulting controller has piecewise linear dynamics dictated by the current effective delay regime. 
Nikolai Matni, Andrew Lamperski and John C. Doyle
math.OC cs.SY