Control of multiple non-holonomic air vehicles under wind uncertainty using model predictive control and decentralized navigation functions

Giannis P. Roussos; Georgios Chaloulos; Kostas J. Kyriakopoulos; John Lygeros

doi:10.1109/CDC.2008.4738792

Control of multiple non-holonomic air vehicles under wind uncertainty using model predictive control and decentralized navigation functions

Giannis P. Roussos, Georgios Chaloulos, Kostas J. Kyriakopoulos, John Lygeros

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

We present a novel control scheme for multiple non-holonomic vehicles under uncertainty, which can guarantee collision avoidance while complying with constraints imposed on the vehicles. Dipolar Navigation Functions are used for decentralized conflict-free control, while Model Predictive Control is used in a centralized manner in order to ensure that the resulting trajectories remain feasible with respect to the constraints present and to optimize the performance objectives. The model used is chosen to resemble air traffic control problems, with some uncertainty introduced in the system. The efficiency of the control strategy is demonstrated by realistic simulations.

Original language	English (US)
Title of host publication	Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1225-1230
Number of pages	6
ISBN (Print)	9781424431243
DOIs	https://doi.org/10.1109/CDC.2008.4738792
State	Published - 2008
Event	47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico Duration: Dec 9 2008 → Dec 11 2008

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	47th IEEE Conference on Decision and Control, CDC 2008
Country/Territory	Mexico
City	Cancun
Period	12/9/08 → 12/11/08

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2008.4738792

Cite this

Roussos, G. P., Chaloulos, G., Kyriakopoulos, K. J., & Lygeros, J. (2008). Control of multiple non-holonomic air vehicles under wind uncertainty using model predictive control and decentralized navigation functions. In Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008 (pp. 1225-1230). Article 4738792 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2008.4738792

Control of multiple non-holonomic air vehicles under wind uncertainty using model predictive control and decentralized navigation functions. / Roussos, Giannis P.; Chaloulos, Georgios; Kyriakopoulos, Kostas J. et al.
Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008. Institute of Electrical and Electronics Engineers Inc., 2008. p. 1225-1230 4738792 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Roussos, GP, Chaloulos, G, Kyriakopoulos, KJ & Lygeros, J 2008, Control of multiple non-holonomic air vehicles under wind uncertainty using model predictive control and decentralized navigation functions. in Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008., 4738792, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 1225-1230, 47th IEEE Conference on Decision and Control, CDC 2008, Cancun, Mexico, 12/9/08. https://doi.org/10.1109/CDC.2008.4738792

Roussos GP, Chaloulos G, Kyriakopoulos KJ, Lygeros J. Control of multiple non-holonomic air vehicles under wind uncertainty using model predictive control and decentralized navigation functions. In Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008. Institute of Electrical and Electronics Engineers Inc. 2008. p. 1225-1230. 4738792. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2008.4738792

Roussos, Giannis P. ; Chaloulos, Georgios ; Kyriakopoulos, Kostas J. et al. / Control of multiple non-holonomic air vehicles under wind uncertainty using model predictive control and decentralized navigation functions. Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008. Institute of Electrical and Electronics Engineers Inc., 2008. pp. 1225-1230 (Proceedings of the IEEE Conference on Decision and Control).

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Control of multiple non-holonomic air vehicles under wind uncertainty using model predictive control and decentralized navigation functions

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