Hybrid decentralized receding horizon control of vehicle formations

被引：3
|
作者：
Keviczky, Tamas [1 ]
Vanek, Balint [1 ]
Borrelli, Francesco [2 ]
Balas, Gary J. [1 ]
机构：
[1] Univ Minnesota, Dept Aerosp Engn & Mech, Minneapolis, MN 55455 USA
[2] Univ Sannio, Dipartimento Ingn, I-82100 Benevento, Italy
来源：
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2006年 / 1-12卷
关键词：
D O I：
10.1109/ACC.2006.1657237
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A hybrid rule-based extension of a recently proposed decentralized Receding Horizon Control (RHC) scheme is presented for vehicle formation control. The scheme makes use of logic rules which improve stability and feasibility of the decentralized method by enforcing coordination. The decentralized control laws which respect the rules are computed using hybrid control design techniques. The basic ideas are illustrated on a two-vehicle formation flight example. A more complex simulation involving six vehicles is shown as well to demonstrate the potential benefits of using rules for coordination within the RHC scheme.
引用
收藏
页码：3358 / 3363
页数：6
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