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

Ugo Rosolia, Francesco Braghin, Andrew G. Alleyne, Stijn De Bruyne, Edoardo Sabbioni

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish (US)
Title of host publication2017 American Control Conference, ACC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3367-3372
Number of pages6
ISBN (Electronic)9781509059928
DOIs
StatePublished - Jun 29 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2017 American Control Conference, ACC 2017
CountryUnited States
CitySeattle
Period5/24/175/26/17

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Rosolia, U., Braghin, F., Alleyne, A. G., De Bruyne, S., & Sabbioni, E. (2017). A decentralized algorithm for control of autonomous agents coupled by feasibility constraints. In 2017 American Control Conference, ACC 2017 (pp. 3367-3372). [7963467] (Proceedings of the American Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC.2017.7963467