On the optimal localized feedback design for multi-vehicle systems

Fu Lin, Makan Fardad, Mihailo R. Jovanović

Research output: Chapter in Book/Entry/PoemConference contribution

3 Scopus citations


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 languageEnglish (US)
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781424477456
StatePublished - 2010
Event49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States
Duration: Dec 15 2010Dec 17 2010

Publication series

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


Conference49th IEEE Conference on Decision and Control, CDC 2010
Country/TerritoryUnited States


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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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