Title :
Multiattribute utility copulas for multiobjective control
Author :
Valicka, Christopher G. ; Stipanovic, Dusan M. ; Abbas, Ali E.
Author_Institution :
Dept. of Ind. & Enterprise Syst. Eng., Univ. of Illinois, Urbana, IL, USA
Abstract :
In this paper, a design of control laws for mobile agents intending to accomplish multiple objectives is proposed. The agents wish to reach assigned waypoints and at the same time avoid collisions between one another and with static obstacles. A gradient-based controller is constructed using non-negative objective functions and a multiattribute utility copula. Parameters of the multiattribute utility function represent an agent´s preference towards the given objectives. Simulations were conducted to demonstrate the control law´s ability to accomplish both objectives as well as to illustrate the effects of varying the parameters of the multiattribute utility functions.
Keywords :
collision avoidance; control system synthesis; gradient methods; mobile agents; utility theory; collision avoidance; control laws design; gradient-based controller; mobile agent; multiattribute utility copula; multiattribute utility function; multiobjective control; nonnegative objective function; static obstacle; Approximation methods; Collision avoidance; Differential equations; Equations; Linear programming; Mathematical model; Trajectory;
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
Print_ISBN :
978-1-4799-0177-7
DOI :
10.1109/ACC.2013.6580327