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On the Synthesis of Control Laws for a Network of Autonomous Agents
Abstract We study the synthesis problem of a LQR co …
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 ow 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. We also discuss the issue of optimal topology.
lso discuss the issue of optimal topology.  +
Authors Vijay Gupta, Babak Hassibi, Richard M. Murray  +
ID 2003r  +
Source Submitted, 2004 American Control Conference (ACC)  +
Tag ghm04-acc  +
Title On the Synthesis of Control Laws for a Network of Autonomous Agents +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:18:34  +
URL
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http://www.cds.caltech.edu/~murray/preprints/ghm04-acc.pdf  +
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On the Synthesis of Control Laws for a Network of Autonomous Agents + Title
 

 

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