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

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...

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Bibliographic Details
Main Authors: Rosolia, Ugo, Braghin, Francesco, Alleyne, Andrew G., De Bruyne, Stijn, Sabbioni, Edoardo
Format: Conference Proceeding
Language:English
Subjects:
Approximation algorithms
Autonomous agents
Cost function
Couplings
Heuristic algorithms
Mathematical model
Optimal control
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Summary: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.
ISSN:2378-5861
DOI:10.23919/ACC.2017.7963467