Title :
Robust design of sparse relative sensing networks
Author :
Schuler, Steffen ; Zelazo, D. ; Allgower, F.
Author_Institution :
Inst. for Syst. Theor. & Autom. Control, Univ. of Stuttgart, Stuttgart, Germany
Abstract :
This paper considers the robust design of sparse relative sensing networks subject to a given H∞-performance constraint. The topology design considers heterogenous agents over weighted graphs. We develop a robust counterpart to the uncertain optimization problem and formulate the sparsity constraint via a convex ℓ1-relaxation. We also demonstrate how this relaxation can be used to embed additional performance criteria, such as the maximization of the algebraic connectivity of the relative sensing network.
Keywords :
H∞ control; algebra; control system synthesis; convex programming; graph theory; multi-agent systems; multi-robot systems; sensor fusion; H∞ performance constraint; algebraic connectivity; convex l1-relaxation; robust design; sparse relative sensing networks; sparsity constraint; topology design; uncertain optimization problem; weighted graphs; Algorithm design and analysis; Network topology; Optimization; Robustness; Sensors; Topology; Uncertainty; ℓ0-minimization; relative sensing networks; robust ℌ∞-performance; topology design;
Conference_Titel :
Control Conference (ECC), 2013 European
Conference_Location :
Zurich
