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On the synthesis of control laws for a network of autonomous agents

Gupta, Vijay and Hassibi, Babak and Murray, Richard M. (2004) On the synthesis of control laws for a network of autonomous agents. In: Proceedings of the 2004 American Control Conference. Vol.6. IEEE , Piscataway, NJ, pp. 4927-4932. ISBN 0-7803-8335-4. https://resolver.caltech.edu/CaltechAUTHORS:20150211-070629438

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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 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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=1384630PublisherArticle
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2004 IEEE. Work supported in part by AFOSR grant F49620-01-1-0460.
Funders:
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)F49620-01-1-0460
Record Number:CaltechAUTHORS:20150211-070629438
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20150211-070629438
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:54673
Collection:CaltechAUTHORS
Deposited By: Shirley Slattery
Deposited On:12 Feb 2015 00:02
Last Modified:03 Oct 2019 07:59

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