View source for A Sub-optimal Algorithm to Synthesize Control Laws for a Network of Dynamic Agents

{{HTDB paper
| authors = Vijay Gupta, Babak Hassibi, Richard M. Murray
| title = A Sub-optimal Algorithm to Synthesize Control Laws for a Network of Dynamic Agents
| source = <i>International Journal of Control</i>, 78(16):1302-1313
| year = 2005
| type = Conference Paper
| funding = AFOSR/info2
| url = http://www.cds.caltech.edu/~murray/preprints/ghm04-ijc.pdf
| abstract = 
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 and show that the loss in performance due to the use of the sub-optimal solution is not
huge; however the topology can have a large effect on performance.
| flags = 
| tag = ghm05-ijc
| id = 2004q
}}