Distributed Model Predictive Consensus
2006 (English)In: Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems, 2006, 2438-2444 p.Conference paper (Refereed)
In this paper we consider the problem of designing a distributed control strategy such that a linear combination of the states of a number of vehicles coincide at a given time. The vehicles are described by linear difference equations and are subject to convex input constraints. It is demonstrated how primal decomposition techniques and incremental subgradient methods allow us to find a solution in which each vehicle performs individual planning of its trajectory and exchanges critical information with neighbors only. We explore various communication, computation, and control structures, and demonstrate the performance of the algorithms by numerical examples.
Place, publisher, year, edition, pages
2006. 2438-2444 p.
IdentifiersURN: urn:nbn:se:kth:diva-79758OAI: oai:DiVA.org:kth-79758DiVA: diva2:500269
International Symposium on Mathematical Theory of Networks and Systems, Kyoto, Japan, July 24-28 2006
QC 201202202012-02-132012-02-092012-03-20Bibliographically approved