Decentralized Receding Horizon Control and Coordination of Autonomous Vehicle Formations

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Decentralized control of vehicle formations

This paper investigates a method for decentralized stabilization of vehicle formations using techniques from algebraic graph theory. The vehicles exchange information according to a pre-specified communication digraph, G. A feedback control is designed using relative information between a vehicle and its in-neighbors in G. We prove that a necessary and sufficient condition for an appropriate de...

متن کامل

Decentralized Receding Horizon Control of Cooperative Vehicles with Communication Delays

Decentralized Receding Horizon Control of Cooperative Vehicles with Communication Delays Hojjat A. Izadi, Ph.D. Concordia University, 2009 This thesis investigates the decentralized receding horizon control (DRHC) for a network of cooperative vehicles where each vehicle in the group plans its future trajectory over a finite prediction horizon time. The vehicles exchange their predicted paths wi...

متن کامل

Decentralized receding horizon control for large scale dynamically decoupled systems

We present a detailed study on the design of decentralized Receding Horizon Control (RHC) schemes for decoupled systems. We formulate an optimal control problem for a set of dynamically decoupled systems where the cost function and constraints couple the dynamical behavior of the systems. The coupling is described through a graph where each system is a node and, cost and constraints of the opti...

متن کامل

Receding Horizon based Cooperative Vehicle Control with Optimal Task Allocation

Receding Horizon based Cooperative Vehicle Control with Optimal Task Allocation Mohammad Khosravi The problem of cooperative multi-target interception in an uncertain environment is investigated in this thesis. The targets arrive in the mission space sequentially at a priori unknown time instants and a priori unknown locations, and then move on a priori unknown trajectories. A group of vehicles...

متن کامل

Distributed receding horizon control for multi-vehicle formation stabilization

We consider the control of interacting subsystems whose dynamics and constraints are decoupled, but whose state vectors are coupled non-separably in a single cost function of a finite horizon optimal control problem. For a given cost structure, we generate distributed optimal control problems for each subsystem and establish that a distributed receding horizon control implementation is stabiliz...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: IEEE Transactions on Control Systems Technology

سال: 2008

ISSN: 1063-6536

DOI: 10.1109/tcst.2007.903066