A multiattribute utility approach to target assignment

Xi Chen, Ali E. Abbas, Dušan M. Stipanović

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

Abstract

This paper introduces the multiattribute utility theory to the control Lyapunov function design framework. As an illustration we focus on the problem of multi-target assignment. With this formulation, we use a global multiattribute utility function as a multivariate objective function that should be minimized for the agents to achieve their objectives. The objectives represent deviations of each agent from specified targets. We provide closed form feedback control laws, based on the multiattribute utility function, for general nonlinear multi-agent system models affine in control. Finally, we present simulation results and conduct sensitivity analysis for two different models that are affine in control; basic kinematic model and nonlinear nonholonomic unicycle model.

Original languageEnglish (US)
Title of host publicationProceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages1331-1337
Number of pages7
EditionPART B
ISBN (Print)9780791848920
DOIs
StatePublished - Jan 1 2010
Event2009 ASME Dynamic Systems and Control Conference, DSCC2009 - Hollywood, CA, United States
Duration: Oct 12 2009Oct 14 2009

Publication series

NameProceedings of the ASME Dynamic Systems and Control Conference 2009, DSCC2009
NumberPART B

Other

Other2009 ASME Dynamic Systems and Control Conference, DSCC2009
CountryUnited States
CityHollywood, CA
Period10/12/0910/14/09

ASJC Scopus subject areas

  • Control and Systems Engineering

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