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A Suboptimal Algorithm to Synthesize Control Laws for a Network of Dynamic Agents 
Abstract 
We study the synthesis problem of an LQR c … We study the synthesis problem of an LQR controller when the matrix describing the control law is
constrained to lie in a particular vector space. Our motivation is the use of such control laws to stabilize
networks of autonomous agents in a decentralized fashion; with the information flow being dictated by
the constraints of a prespecified topology. In this paper, we consider the finitehorizon version of the
problem and provide both a computationally intensive optimal solution and a suboptimal solution that
is computationally more tractable. Then we apply the technique to the decentralized vehicle formation
control problem and show that the loss in performance due to the use of the suboptimal solution is not
huge; however the topology can have a large effect on performance. gy can have a large effect on performance. +


Authors  Vijay Gupta, Babak Hassibi, Richard M. Murray + 
ID  2004q + 
Source  <i>International Journal of Control</i>, 78(16):13021313 + 
Tag  ghm05ijc + 
Title  A Suboptimal Algorithm to Synthesize Control Laws for a Network of Dynamic Agents + 
Type  Conference Paper + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:18:14 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/ghm04ijc.pdf + 
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A Suboptimal Algorithm to Synthesize Control Laws for a Network of Dynamic Agents +  Title 
