-- Vijay
Gupta, Babak Hassibi and Richard M. Murray, Proceedings
of American Control Conference, 2004 (ACC 04). Volume 6,
30 June-2 July 2004
Page(s):4927 - 4932.
We study the synthesis problem of a LQR controller when the matrix
describing the control law is additionally 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
pre-specified topology. We formulate the problem as an optimization
problem and provide numerical procedures to solve it. Then we apply the
technique to the decentralized vehicle formation control problem and
show that the topology can have a significant effect on the optimal
cost.
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