This work aims at extending some concepts of symbolic control design to decentralized control structures, with an approximate simulation approach. Symbolic models and controllers are based on abstractions of continuous dynamics where one symbol corresponds to an aggregate of continuous states. We consider a serial interconnection of continuous nonlinear systems and we address the decentralized design of local controllers to accomplish a given specication on the overall system. The results are applied to a vehicle platooning problem, where we jointly fulll a safety constraint (collision avoidance) and reduce the fuel consumption.
Decentralized symbolic control of interconnected systems with application to vehicle platooning
Alessandro Borri;
2013
Abstract
This work aims at extending some concepts of symbolic control design to decentralized control structures, with an approximate simulation approach. Symbolic models and controllers are based on abstractions of continuous dynamics where one symbol corresponds to an aggregate of continuous states. We consider a serial interconnection of continuous nonlinear systems and we address the decentralized design of local controllers to accomplish a given specication on the overall system. The results are applied to a vehicle platooning problem, where we jointly fulll a safety constraint (collision avoidance) and reduce the fuel consumption.File in questo prodotto:
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