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.
|Titolo:||A decentralized algorithm for control of autonomous agents coupled by feasibility constraints|
|Data di pubblicazione:||2017|
|Appare nelle tipologie:||04.1 Contributo in Atti di convegno|
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|A decentralized algorithm for control of autonomous agents coupled by feasibility constraints.pdf||Post-Print (DRAFT o Author’s Accepted Manuscript-AAM)||Accesso riservato|