TY - JOUR
T1 - Decentralized overlapping control of a formation of unmanned aerial vehicles
AU - Stipanović, Dušan M.
AU - Inalhan, Gökhan
AU - Teo, Rodney
AU - Tomlin, Claire J.
N1 - Funding Information:
Claire Tomlin is a recipient of the Eckman Award of the American Automatic Control Council (2003), the AIAA Outstanding Teacher Award, Stanford (2001), NSF Career Award, Stanford (1999), Terman Fellowship, Stanford (1998), the Bernard Friedman Memorial Prize in Applied Mathematics, Berkeley (1998), and the Zonta Amelia Earhart Awards for Aeronautics Research (1996–98).
Funding Information:
This work was supported in part by DARPA under the Software Enabled Control Program (AFRL contract F33615-99-C-3014), in part by the DoD Multidisciplinary University Research Initiative (MURI) program administered by the Office of Naval Research under Grant N00014-00-1-0637, and in part by AFOSR URI.
Copyright:
Copyright 2004 Elsevier Science B.V., Amsterdam. All rights reserved.
PY - 2002
Y1 - 2002
N2 - Decentralized overlapping feedback laws are designed for a formation of unmanned aerial vehicles. The dynamic model of the formation with an overlapping information structure constraint is treated as an interconnected system with overlapping subsystems. Using the mathematical framework of the inclusion principle, the interconnected system is expanded into a higher dimensional space in which the subsystems appear to be disjoint. On a subsystem level, a static state feedback controller is designed to robustly stabilize the perturbed nominal dynamics of the subsystem. The design procedure is based on the hierarchical application of convex optimization tools involving linear matrix inequalities. As a final step, the decentralized controllers are contracted back to the original interconnected system for implementation.
AB - Decentralized overlapping feedback laws are designed for a formation of unmanned aerial vehicles. The dynamic model of the formation with an overlapping information structure constraint is treated as an interconnected system with overlapping subsystems. Using the mathematical framework of the inclusion principle, the interconnected system is expanded into a higher dimensional space in which the subsystems appear to be disjoint. On a subsystem level, a static state feedback controller is designed to robustly stabilize the perturbed nominal dynamics of the subsystem. The design procedure is based on the hierarchical application of convex optimization tools involving linear matrix inequalities. As a final step, the decentralized controllers are contracted back to the original interconnected system for implementation.
UR - http://www.scopus.com/inward/record.url?scp=0036989818&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0036989818&partnerID=8YFLogxK
M3 - Conference article
AN - SCOPUS:0036989818
SN - 0191-2216
VL - 3
SP - 2829
EP - 2835
JO - Proceedings of the IEEE Conference on Decision and Control
JF - Proceedings of the IEEE Conference on Decision and Control
T2 - 41st IEEE Conference on Decision and Control
Y2 - 10 December 2002 through 13 December 2002
ER -