View source for On the Synthesis of Control Laws for a Network of Autonomous Agents

{{HTDB paper
| authors = Vijay Gupta, Babak Hassibi, Richard M. Murray
| title = On the Synthesis of Control Laws for a Network of Autonomous Agents
| source = Submitted, 2004 American Control Conference (ACC)
| year = 2003
| type =  Conference 
  Paper
| funding = AFOSR/info
| url = http://www.cds.caltech.edu/~murray/preprints/ghm04-acc.pdf
| abstract = 
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.

| flags = 
| tag = ghm04-acc
| id = 2003r
}}