TY - GEN
T1 - Safe coordination control policy for multiple input constrained nonholonomic vehicles
AU - Mejía, Juan S.
AU - Stipanović, Dušan M.
PY - 2009
Y1 - 2009
N2 - In this paper we propose a decentralized control policy for coordinating a group of nonholonomic autonomous vehicles (non necessarily homogeneous) with input constraints moving in ℝ2, aiming to satisfy individual (trajectory tracking) and common objectives (guaranteed vehicles safety). The proposed policy models the discrete operation modes of each participating vehicle as a hybrid automaton, while obtaining control inputs for each discrete mode from a particular model predictive control formulation or from a preselected constant control input. The proposed control policy results in partial fulfillment of the trajectory tracking problem and safety guarantees for all involved vehicles while preserving the overall system stability. The policy incorporates elements of model predictive control and hybrid system stability theory, more specifically stability results related to multiple Lyapunov functions.
AB - In this paper we propose a decentralized control policy for coordinating a group of nonholonomic autonomous vehicles (non necessarily homogeneous) with input constraints moving in ℝ2, aiming to satisfy individual (trajectory tracking) and common objectives (guaranteed vehicles safety). The proposed policy models the discrete operation modes of each participating vehicle as a hybrid automaton, while obtaining control inputs for each discrete mode from a particular model predictive control formulation or from a preselected constant control input. The proposed control policy results in partial fulfillment of the trajectory tracking problem and safety guarantees for all involved vehicles while preserving the overall system stability. The policy incorporates elements of model predictive control and hybrid system stability theory, more specifically stability results related to multiple Lyapunov functions.
UR - http://www.scopus.com/inward/record.url?scp=77950808778&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77950808778&partnerID=8YFLogxK
U2 - 10.1109/CDC.2009.5400488
DO - 10.1109/CDC.2009.5400488
M3 - Conference contribution
AN - SCOPUS:77950808778
SN - 9781424438716
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 5679
EP - 5684
BT - Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Y2 - 15 December 2009 through 18 December 2009
ER -