Semi-decentralized optimal control of a cooperative team of agents

被引：0
|
作者：
Kazerooni, E. Semsar [1 ]
Khorasani, K. [1 ]
机构：
[1] Concordia Univ, Dept Elect & Comp Engn, Montreal, PQ H3G 1M8, Canada
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON SYSTEM OF SYSTEMS ENGINEERING, VOLS 1 AND 2 | 2007年
关键词：
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
The main goal of this work is to design a decentralized optimal control for a team of multi-agents that can accomplish consensus in a leaderless structure. Towards this end, a semi-decentralized optimal control strategy is designed based on minimization of individual cost functions using local information and based on solving HJB equations. The interaction between agents due to information flow is modelled in characterization of dynamical model of each agent and for this purpose the control input is divided into two parts. One part is designed based on the agent's own state and the second part is a function of information from neighboring agents of each agent. Effectively, the consensus algorithm is derived in a formal way that is based on conventional control methodologies. Finally, the simulation results are presented to show effectiveness of the proposed method in achieving predefined requirements.
引用
收藏
页码：115 / 121
页数：7
相关论文
共 50 条
  • [41] Semi-Decentralized Prediction Method for Energy-Efficient Wireless Sensor Networks
    Abdoulaye, Imourane
    Belleudy, Cecile
    Rodriguez, Laurent
    Miramond, Benoit
    IEEE SENSORS LETTERS, 2024, 8 (04) : 1 - 4
  • [42] Internet of energy (IoE) adoption for a secure semi-decentralized renewable energy distribution
    El Hafdaoui H.
    Khallaayoun A.
    Sustainable Energy Technologies and Assessments, 2023, 57
  • [43] An interaction-fair semi-decentralized trajectory planner for connected and autonomous vehicles
    Liu, Zhengqin
    Lei, Jinlong
    Yi, Peng
    Hong, Yiguang
    Autonomous Intelligent Systems, 2025, 5 (01):
  • [44] A Semi-Decentralized Scheme for Integration of Price-Responsive Appliances in the Electricity Market
    De Paola, A.
    Angeli, D.
    Strbac, G.
    IFAC PAPERSONLINE, 2017, 50 (01): : 6729 - 6736
  • [45] SDPaxos: Building Efficient Semi-Decentralized Geo-replicated State Machines
    Zhao, Hanyu
    Zhang, Quanlu
    Yang, Zhi
    Wu, Ming
    Dai, Yafei
    PROCEEDINGS OF THE 2018 ACM SYMPOSIUM ON CLOUD COMPUTING (SOCC '18), 2018, : 68 - 81
  • [46] Decentralized Cooperative Control for Swarm Agents with High-Order Dynamics
    Ren, Beibei
    Pei, Hailong
    Sun, Zhendong
    Ge, Shuzhi Sam
    Lee, Tong Heng
    2009 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS ( ICAL 2009), VOLS 1-3, 2009, : 90 - +
  • [47] Team optimal decentralized estimation by multiple agents with partial history sharing information structure
    Liu, Jingmei
    Xu, Juanjuan
    Zhang, Huanshui
    ASIAN JOURNAL OF CONTROL, 2023, 25 (06) : 4864 - 4874
  • [48] Team Optimal Decentralized State Estimation
    Afshari, Mohammad
    Mahajan, Aditya
    2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC), 2018, : 5044 - 5050
  • [49] Decentralized optimal control of multiple heterogeneous UAVs in cooperative target tracking
    Wen, Yuanquan
    Zhou, Rui
    Wu, Wenman
    Kong, Fan'e
    Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics, 2010, 36 (05): : 545 - 549
  • [50] Privacy Preserving Semi-Decentralized Mean Estimation Over Intermittently-Connected Networks
    Saha, Rajarshi
    Seif, Mohamed
    Yemini, Michal
    Goldsmith, Andrea J.
    Poor, H. Vincent
    IEEE TRANSACTIONS ON SIGNAL PROCESSING, 2024, 72 : 5306 - 5321
12345