A Variable Communication Approach for Decentralized Receding Horizon Control of Multi-Vehicle Systems

Author

Izadi, H.A. ; Gordon, B.W. ; Rabbath, C.A.

Author_Institution

Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, QC

fYear

2007

fDate

9-13 July 2007

Firstpage

1781

Lastpage

1786

Abstract

The stability and performance of decentralized receding horizon control (RHC) is often improved by modifying the cost function and constraints of the problem. However, variable communication presents an additional approach for further improvement. In this paper, new methods are developed for variable communication of decentralized RHC. Through modification of stability conditions recently developed for decentralized RHC, an investigation of the effect of faster communication rates, expanded communication radius, and multi-hopping communication on decentralized RHC is performed. The new approach is applied to a group of five mobile robots with different communication topologies.

Keywords

decentralised control; multi-robot systems; predictive control; stability; decentralized receding horizon control; expanded communication radius; multi hopping communication; multi vehicle system; stability condition; variable communication approach; Centralized control; Cities and towns; Communication system control; Control systems; Cost function; Distributed computing; Mobile communication; Size control; Stability; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2007. ACC '07

Conference_Location

New York, NY

ISSN

0743-1619

Print_ISBN

1-4244-0988-8

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2007.4283112

Filename

4283112