Title :
Hybrid decentralized receding horizon control of vehicle formations
Author :
Keviczky, Tamás ; Vanek, Bálint ; Borrelli, Francesco ; Balas, Gary J.
Author_Institution :
Dept. of Aerosp. Eng. & Mech., Minnesota Univ., Minneapolis, MN
Abstract :
A hybrid rule-based extension of a recently proposed decentralized receding horizon control (RHC) scheme is presented for vehicle formation control. The scheme makes use of logic rules which improve stability and feasibility of the decentralized method by enforcing coordination. The decentralized control laws which respect the rules are computed using hybrid control design techniques. The basic ideas are illustrated on a two-vehicle formation flight example. A more complex simulation involving six vehicles is shown as well to demonstrate the potential benefits of using rules for coordination within the RHC scheme
Keywords :
aircraft control; control system synthesis; decentralised control; discrete time systems; infinite horizon; motion control; position control; stability; coordination; decentralized control; hybrid control design; logic rules; organic air vehicle; receding horizon control; stability; vehicle formation control; vehicle formation flight; Centralized control; Control design; Control systems; Distributed control; Large-scale systems; Logic; Optimal control; Remotely operated vehicles; Size control; Stability;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657237