Communication Bandwidth Allocation for Decentralized Receding Horizon Control of Multiple Vehicles

被引：0
|
作者：
Izadi, Hojjat A. [1 ]
Gordon, Brandon W. [1 ]
Rabbath, Camille A. [2 ]
机构：
[1] Concordia Univ, Dept Mech Engn, Montreal, PQ H3G 1M8, Canada
[2] Res & Dev Def Canada, Quebec City, PQ G3J 1X5, Canada
来源：
2008 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3 | 2008年
关键词：
Cooperative Control; Decentralized Control; Model Predictive Control; Communication Bandwidth Allocation;
D O I：
10.1109/AIM.2008.4601832
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
We consider the decentralized receding horizon control (DRHC) of a team of cooperative vehicles with limited communication bandwidth. The results of analyzing the feasibility, stability and performance of DRHC imply that the mismatch between predicted and actual plans of each agent plays an important role in stability and performance of the entire fleet. Hence, based on this key result, a new improved algorithm is proposed which leads to superior stability and performance of the overall team. The key idea is to reduce the mismatch between the predicted and actual plans of each agent by efficient communication bandwidth allocation. Several simulations for the formation flight of rotorcrafts verify the analytical results.
引用
收藏
页码：1195 / +
页数：2
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