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

Author

Gupta, Vijay ; Hassibi, Babak ; Murray, Richard M.

Author_Institution

Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA

Volume

6

fYear

2004

fDate

June 30 2004-July 2 2004

Firstpage

4927

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.

Keywords

control system synthesis; cost optimal control; decentralised control; linear quadratic control; matrix algebra; optimisation; stability; topology; vectors; vehicles; LQ control law synthesis; autonomous agents; cost optimal control; decentralized vehicle formation control; linear quadratic regulator controller; matrix algebra; network stability; optimization problem; topology; vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2004. Proceedings of the 2004

Conference_Location

Boston, MA, USA

ISSN

0743-1619

Print_ISBN

0-7803-8335-4

Type

conf

Filename

1384630