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

@inproceedings{Gupta2004ASA,
  title={A Sub-optimal Algorithm to Synthesize Control Laws for a Network of Dynamic Agents},
  author={Vijay Gupta and Babak Hassibi and R. M. Murray},
  year={2004}
}
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… CONTINUE READING
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