Decentralized overlapping control of a formation of unmanned aerial vehicles

Dušan M. Stipanović; Gökhan Inalhan; Rodney Teo; Claire J. Tomlin

Decentralized overlapping control of a formation of unmanned aerial vehicles

Dušan M. Stipanović^*
, Gökhan Inalhan
, Rodney Teo
, Claire J. Tomlin

^*Bu çalışma için yazışmadan sorumlu yazar

Department of Aeronautics and Astronautics

Araştırma sonucu: Dergiye katkı › Konferans makalesi › bilirkişi

47 Atıf (Scopus)

Özet

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.

Orijinal dil	İngilizce
Sayfa (başlangıç-bitiş)	2829-2835
Sayfa sayısı	7
Dergi	Proceedings of the IEEE Conference on Decision and Control
Hacim	3
Yayın durumu	Yayınlandı - 2002
Harici olarak yayınlandı	Evet
Etkinlik	41st IEEE Conference on Decision and Control - Las Vegas, NV, United States Süre: 10 Ara 2002 → 13 Ara 2002

Finansman

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.

Finansörler	Finansör numarası
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

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Link to publication in Scopus

Alıntı Yap

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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.",

author = "Stipanovi{\'c}, \{Du{\v s}an M.\} and G{\"o}khan Inalhan and Rodney Teo and Tomlin, \{Claire J.\}",

year = "2002",

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AU - Stipanović, Dušan M.

AU - Inalhan, Gökhan

AU - Teo, Rodney

AU - Tomlin, Claire J.

PY - 2002

Y1 - 2002

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/0036989818

M3 - Conference article

AN - SCOPUS:0036989818

SN - 0743-1546

VL - 3

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JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

T2 - 41st IEEE Conference on Decision and Control

Y2 - 10 December 2002 through 13 December 2002

ER -

Decentralized overlapping control of a formation of unmanned aerial vehicles

Özet

Finansman

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