Title

Hierarchical Control Of Cooperative Nonlinear Dynamical Systems

Keywords

cooperative control; formation control; hierarchical control; obstacle avoidance; VMC

Abstract

Cooperative control methods that are scalable with low computational cost are crucial for networked dynamical systems to respond quickly in unknown or cluttered environments. In an attempt to make the problem tractable, many existing cooperative controls are designed with oversimplified assumptions and/or without the capabilities of rapidly handling different environmental and dynamical constraints. In this article, proposed is a two-level hierarchical, cooperative control framework using a divide-and-conquer strategy so that challenges can be separately handled at different levels. It is scalable and has low computational cost. Based on a simplified homogeneous double-integrator dynamic model, the top-level planner first computes cooperative trajectories satisfying obstacle avoidance requirements. Then at the lower level, state and control constraints, nonlinear dynamics and self-collision/obstacle avoidance as related to the real system are addressed through a bio-inspired fast trajectory planning algorithm. The stability of the overall hierarchical structure is proven. Two examples, a differential-drive ground vehicle formation control and an unmanned aerial vehicle formation flight, are used to illustrate the advantages of the proposed hierarchical framework. © 2012 Taylor & Francis.

Publication Date

8-1-2012

Publication Title

International Journal of Control

Volume

85

Issue

8

Number of Pages

1093-1111

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1080/00207179.2012.677067

Socpus ID

84863604992 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84863604992

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