Robust Decentralized Supervisory Control in a Leader-Follower Configuration with Obstacle Avoidance
نویسندگان
چکیده
منابع مشابه
A distributed obstacle avoidance MPC strategy for leader-follower formations
In this paper we address the obstacle avoidance motion planning problem for leader-follower vehicles configurations operating in static environments. By resorting to settheoretic ideas, a receding horizon control algorithm is proposed for robots modelled by linear time-invariant (LTI) systems subject to input and state constraints. Terminal robust positively invariant regions and sequences of p...
متن کاملA decentralized multi-level leader-follower game for network design of a competitive supply chain
This paper develops a decentralized leader-follower game for network design of a competitive supply chain problem in which a new chain as the leader enters a market with one existing supply chain as a follower. Both chains produce an identical product, customer demand is inelastic and customer utility function is based on Huff gravity-based model. The leader wants to shape his network and set a...
متن کاملCooperative Visibility Maintenance for Leader-Follower Formations in Obstacle Environments
Vision-based formation control of multiple agents, such as mobile robots or fully-autonomous cars, has recently received great interest due to its application in robotic networks and automated highways. This paper addresses the cooperative motion coordination of leader-follower formations of nonholonomic mobile robots, under visibility and communication constraints in known polygonal obstacle e...
متن کاملDecentralized supervisory control with communicating controllers
The decentralized control problem for discrete-event systems addressed in this paper is that of several communicating supervisory controllers, each with different information, working in concert to exactly achieve a given legal sublanguage of the uncontrolled system’s languagemodel. A novel information structure model is presented for dealing with this class of problems. Existence results are g...
متن کاملLeader-Follower Formation Control for Quadrotors
Quadrotors are gaining an increasing interest in public and extensively explored in recent years. In many situations, a team of quadrotors is desired to operate in a certain shape, which is also called formation. In this paper, a linear PID controller is used to control each single quadrotor and a slide mode controller is adopted to solve the formation flying problem which employs the leader-fo...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2015
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2015.09.254