On the optimal localized feedback design for multi-vehicle systems

Fu Lin; Makan Fardad; Mihailo R. Jovanović

doi:10.1109/CDC.2010.5718163

On the optimal localized feedback design for multi-vehicle systems

Fu Lin, Makan Fardad, Mihailo R. Jovanović

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Scopus citations

Abstract

We consider the design of localized feedback gains using relative information exchange between vehicles. The optimal controller is obtained by minimizing the global performance measure that quantifies the coherence of the large-scale network. For undirected connected graphs we show convexity of this optimal control problem, implying that its global solution can be computed efficiently. Moreover, we determine analytically the optimal localized gains for several graphs. This allows us to quantify scaling of the performance measure with the network size and to identify graphs that are favorable for maintaining coherence of the network. Another contribution of the paper lies in the characterization of all stabilizing localized feedback gains. This characterization can be utilized to examine the interplay between the underlying communication topology and the dynamics of the closed-loop system.

Original language	English (US)
Title of host publication	2010 49th IEEE Conference on Decision and Control, CDC 2010
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5744-5749
Number of pages	6
ISBN (Print)	9781424477456
DOIs	https://doi.org/10.1109/CDC.2010.5718163
State	Published - 2010
Event	49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States Duration: Dec 15 2010 → Dec 17 2010

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	49th IEEE Conference on Decision and Control, CDC 2010
Country/Territory	United States
City	Atlanta
Period	12/15/10 → 12/17/10

Keywords

Convex optimization
Large-scale networks
Local feedback design
Multi-vehicle systems
Undirected graphs

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10.1109/CDC.2010.5718163

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Lin, F., Fardad, M., & Jovanović, M. R. (2010). On the optimal localized feedback design for multi-vehicle systems. In 2010 49th IEEE Conference on Decision and Control, CDC 2010 (pp. 5744-5749). Article 5718163 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2010.5718163

On the optimal localized feedback design for multi-vehicle systems. / Lin, Fu; Fardad, Makan; Jovanović, Mihailo R.
2010 49th IEEE Conference on Decision and Control, CDC 2010. Institute of Electrical and Electronics Engineers Inc., 2010. p. 5744-5749 5718163 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lin, F, Fardad, M & Jovanović, MR 2010, On the optimal localized feedback design for multi-vehicle systems. in 2010 49th IEEE Conference on Decision and Control, CDC 2010., 5718163, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 5744-5749, 49th IEEE Conference on Decision and Control, CDC 2010, Atlanta, United States, 12/15/10. https://doi.org/10.1109/CDC.2010.5718163

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AB - We consider the design of localized feedback gains using relative information exchange between vehicles. The optimal controller is obtained by minimizing the global performance measure that quantifies the coherence of the large-scale network. For undirected connected graphs we show convexity of this optimal control problem, implying that its global solution can be computed efficiently. Moreover, we determine analytically the optimal localized gains for several graphs. This allows us to quantify scaling of the performance measure with the network size and to identify graphs that are favorable for maintaining coherence of the network. Another contribution of the paper lies in the characterization of all stabilizing localized feedback gains. This characterization can be utilized to examine the interplay between the underlying communication topology and the dynamics of the closed-loop system.

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On the optimal localized feedback design for multi-vehicle systems

Abstract

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Keywords

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