Abstract
Decentralized overlapping feedback laws are designed for a formation of unmanned aerial vehicles. The dynamic model of the formation with an overlapping information structure constraint is treated as an interconnected system with overlapping subsystems. Using the mathematical framework of the inclusion principle, the interconnected system is expanded into a higher dimensional space in which the subsystems appear to be disjoint. On a subsystem level, a static state feedback controller is designed to robustly stabilize the perturbed nominal dynamics of the subsystem. The design procedure is based on the hierarchical application of convex optimization tools involving linear matrix inequalities. As a final step, the decentralized controllers are contracted back to the original interconnected system for implementation.
Original language | English |
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Pages (from-to) | 2829-2835 |
Number of pages | 7 |
Journal | Proceedings of the IEEE Conference on Decision and Control |
Volume | 3 |
Publication status | Published - 2002 |
Externally published | Yes |
Event | 41st IEEE Conference on Decision and Control - Las Vegas, NV, United States Duration: 10 Dec 2002 → 13 Dec 2002 |
Funding
Claire Tomlin is a recipient of the Eckman Award of the American Automatic Control Council (2003), the AIAA Outstanding Teacher Award, Stanford (2001), NSF Career Award, Stanford (1999), Terman Fellowship, Stanford (1998), the Bernard Friedman Memorial Prize in Applied Mathematics, Berkeley (1998), and the Zonta Amelia Earhart Awards for Aeronautics Research (1996–98). This work was supported in part by DARPA under the Software Enabled Control Program (AFRL contract F33615-99-C-3014), in part by the DoD Multidisciplinary University Research Initiative (MURI) program administered by the Office of Naval Research under Grant N00014-00-1-0637, and in part by AFOSR URI.
Funders | Funder number |
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AFOSR URI | |
AIAA | |
American Automatic Control Council | |
Bernard Friedman Memorial Prize | |
DoD Multidisciplinary University | |
Zonta Amelia Earhart Awards for Aeronautics Research | 1996–98 |
National Science Foundation | |
Office of Naval Research | N00014-00-1-0637 |
Defense Advanced Research Projects Agency | F33615-99-C-3014 |