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arXiv · 1702.07934

A decentralized algorithm for control of autonomous agents coupled by feasibility constraints

Ugo Rosolia·Francesco Braghin·Andrew G. Alleyne·Stijn De Bruyne·Edoardo Sabbioni
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Abstract

In this paper a decentralized control algorithm for systems composed of $N$ dynamically decoupled agents, coupled by feasibility constraints, is presented. The control problem is divided into $N$ optimal control sub-problems and a communication scheme is proposed to decouple computations. The derivative of the solution of each sub-problem is used to approximate the evolution of the system allowing the algorithm to decentralize and parallelize computations. The effectiveness of the proposed algorithm is shown through simulations in a cooperative driving scenario.

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Ugo Rosolia, Francesco Braghin, Andrew G. Alleyne, Stijn De Bruyne, Edoardo Sabbioni. 2017-02-25. A decentralized algorithm for control of autonomous agents coupled by feasibility constraints. https://arxiv.org/abs/1702.07934

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