Johansson, Björn (Royal Inst. of Tech.), Speranzon, Alberto (Royal Inst. of Tech.), Johansson, Mikael (Royal Inst. of Tech.), Johansson, Karl (Royal Inst. of Tech.)

Distributed Model Predictive Consensus

Scheduled for presentation during the Mini-Symposium "Distributed decision-making over ad hoc networks" (FrA09), Friday, July 28, 2006, 11:40−12:05, Room J

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

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.