Title :
Coordinated control and information architecture
Author :
Yan, Jun ; Bitmead, Robert R.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., California Univ., San Diego, La Jolla, CA, USA
Abstract :
Coordinated control of vehicle formations is the motivating problem. The key idea is the use of Model Predictive Control (MPC) as a localized control law to connect the overall formation control performance and the inter-vehicle communication quality. The working problem is a simple 1-D vehicle formation with noisy channels. The measure of information quality is the covariance of the state estimates. A special form of MPC is used, which absorbs the estimate covariance into its probabilistically posed no-collision constraints. The resulting control law is deterministic and is adapted to the information quality.
Keywords :
covariance analysis; distributed control; information networks; predictive control; traffic information systems; coordinated control; covariance; information architecture; information quality; intervehicle communication; model predictive control; no-collision constraints; noisy channels; state estimates; Aerospace engineering; Centralized control; Communication system control; Constraint optimization; Control theory; Predictive control; Predictive models; Stability criteria; State estimation; Vehicles;
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Print_ISBN :
0-7803-7924-1
DOI :
10.1109/CDC.2003.1271762