Seminar Details
2009-04-23 (14.00) : Communications for Coordinated Control via Covariance Management
At Euler building
Organized by Mathematical Engineering
Speaker :
Robert BITMEAD (University of California, San Diego
)
Abstract :
Interaction between coordinating systems requires communication of
information between the systems. Our aim is to quantify the required level
and content of this communication. In the example considered, the interaction is developed as a non-collision constraint between
vehicles and each vehicle solves a constrained Model Predictive Control (MPC) problem to
determine its path - with the non-collision constraint being central.
The extension of MPC from a full-state feedback strategy to one involving state
estimates allows the adoption of the estimate covariance as a means to manage the communication requirements. This, in turn, admits a
formulation of the communication resource assignment problem as a set of coupled Linear Matrix Inequalities, which link the control objectives, the external
disturbance, and the communications.