NDLI: Safe coordination control policy for multiple input constrained nonholonomic vehicles

Content Provider	IEEE Xplore Digital Library
Author	Mejia, J.S. Stipanovic, D.M.
Copyright Year	2009
Description	Author affiliation: Industrial and Enterprise Systems Engineering Department and the Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, USA (Mejia, J.S.; Stipanovic, D.M.)
Abstract	In this paper we propose a decentralized control policy for coordinating a group of nonholonomic autonomous vehicles (non necessarily homogeneous) with input constraints moving in $ℝ^{2},$ aiming to satisfy individual (trajectory tracking) and common objectives (guaranteed vehicles safety). The proposed policy models the discrete operation modes of each participating vehicle as a hybrid automaton, while obtaining control inputs for each discrete mode from a particular model predictive control formulation or from a preselected constant control input. The proposed control policy results in partial fulfillment of the trajectory tracking problem and safety guarantees for all involved vehicles while preserving the overall system stability. The policy incorporates elements of model predictive control and hybrid system stability theory, more specifically stability results related to multiple Lyapunov functions.
Starting Page	5679
Ending Page	5684
File Size	1378627
Page Count	6
File Format	PDF
ISBN	9781424438716
ISSN	01912216
DOI	10.1109/CDC.2009.5400488
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicle safety Remotely operated vehicles Predictive models Automatic control Stability Mobile robots Trajectory Predictive control Distributed control Automata
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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