In this paper a decentralized control algorithm for systems composed of N dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into N optimal control sub-problems and a communication scheme is proposed to decouple computations. The derivative of the solution of each sub-problem is used to approximate the evolution of the system allowing the algorithm to decentralize and parallelize computations. The effectiveness of the proposed algorithm is shown through simulations in a cooperative driving scenario.

A decentralized algorithm for control of autonomous agents coupled by feasibility constraints

ROSOLIA, UGO;BRAGHIN, FRANCESCO;SABBIONI, EDOARDO
2017-01-01

Abstract

In this paper a decentralized control algorithm for systems composed of N dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into N optimal control sub-problems and a communication scheme is proposed to decouple computations. The derivative of the solution of each sub-problem is used to approximate the evolution of the system allowing the algorithm to decentralize and parallelize computations. The effectiveness of the proposed algorithm is shown through simulations in a cooperative driving scenario.
PROCEEDINGS OF THE AMERICAN CONTROL CONFERENCE
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1032722
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