Abstract
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.
| Original language | English (US) |
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| Title of host publication | 2017 American Control Conference, ACC 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 3367-3372 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509059928 |
| DOIs | |
| State | Published - Jun 29 2017 |
| Externally published | Yes |
| Event | 2017 American Control Conference, ACC 2017 - Seattle, United States Duration: May 24 2017 → May 26 2017 |
Publication series
| Name | Proceedings of the American Control Conference |
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| ISSN (Print) | 0743-1619 |
Other
| Other | 2017 American Control Conference, ACC 2017 |
|---|---|
| Country/Territory | United States |
| City | Seattle |
| Period | 5/24/17 → 5/26/17 |
Bibliographical note
Publisher Copyright:© 2017 American Automatic Control Council (AACC).