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Distributed Model Predictive Consensus
KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-9940-5929
2006 (English)In: Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems, 2006, 2438-2444 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-79758OAI: oai:DiVA.org:kth-79758DiVA: diva2:500269
Conference
International Symposium on Mathematical Theory of Networks and Systems, Kyoto, Japan, July 24-28 2006
Note
QC 20120220Available from: 2012-02-13 Created: 2012-02-09 Last updated: 2012-03-20Bibliographically approved

Open Access in DiVA

fulltext(151 kB)