-- Vijay
Gupta, Babak Hassibi and Richard M. Murray, International
Journal of Control, Vol. 78, No. 16, 10 November 2005, Page(s):1302-1313.
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 pre-specified
topology. In this paper, we consider the finite-horizon version of the
problem and provide both a computationally intensive optimal solution
and a sub-optimal solution that is computationally more tractable. Then
we apply the technique to the decentralized vehicle formation control
problem. It is numerically illustrated that while the loss in
performance due to the use of the sub-optimal solution is not huge, the
topology can have a large effect on performance.
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