Design of safety distributed control under bounded time-varying communication delay
This paper addresses the design of a distributed safety controller for two agents, subject to communication delay. The control objective is to ensure safety, meaning that the state of the two-agent system does not enter an undesired set in the state space. Our approach is based on the computation of...
| Principais autores: | , |
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| Outros Autores: | |
| Formato: | Artigo |
| Idioma: | en_US |
| Publicado em: |
Institute of Electrical and Electronics Engineers (IEEE)
2015
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| Acesso em linha: | http://hdl.handle.net/1721.1/97414 https://orcid.org/0000-0001-6472-8576 |
| _version_ | 1826209605935431680 |
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| author | Bresch-Pietri, Delphine Del Vecchio, Domitilla |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Bresch-Pietri, Delphine Del Vecchio, Domitilla |
| author_sort | Bresch-Pietri, Delphine |
| collection | MIT |
| description | This paper addresses the design of a distributed safety controller for two agents, subject to communication delay. The control objective is to ensure safety, meaning that the state of the two-agent system does not enter an undesired set in the state space. Our approach is based on the computation of the complementary set to the maximal controlled invariant set, and on a state estimation procedure which guarantees control agreement between the two agents. We solve the safety control problem for any bounded communication delay, assuming that the two agents share the same internal clock. Performance of the controller and relevance of the proposed approach are discussed in light of simulations performed for a collision avoidance problem between two semi-autonomous vehicles at an intersection. |
| first_indexed | 2024-09-23T14:25:07Z |
| format | Article |
| id | mit-1721.1/97414 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T14:25:07Z |
| publishDate | 2015 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/974142022-10-01T21:13:32Z Design of safety distributed control under bounded time-varying communication delay Bresch-Pietri, Delphine Del Vecchio, Domitilla Massachusetts Institute of Technology. Department of Mechanical Engineering Bresch-Pietri, Delphine Del Vecchio, Domitilla This paper addresses the design of a distributed safety controller for two agents, subject to communication delay. The control objective is to ensure safety, meaning that the state of the two-agent system does not enter an undesired set in the state space. Our approach is based on the computation of the complementary set to the maximal controlled invariant set, and on a state estimation procedure which guarantees control agreement between the two agents. We solve the safety control problem for any bounded communication delay, assuming that the two agents share the same internal clock. Performance of the controller and relevance of the proposed approach are discussed in light of simulations performed for a collision avoidance problem between two semi-autonomous vehicles at an intersection. National Science Foundation (U.S.) (Award 0930081) 2015-06-15T15:49:48Z 2015-06-15T15:49:48Z 2014-06 Article http://purl.org/eprint/type/ConferencePaper 978-1-4799-3274-0 978-1-4799-3272-6 978-1-4799-3271-9 0743-1619 http://hdl.handle.net/1721.1/97414 Bresch-Pietri, Delphine, and Domitilla Del Vecchio. “Design of Safety Distributed Control Under Bounded Time-Varying Communication Delay.” 2014 American Control Conference (June 2014). https://orcid.org/0000-0001-6472-8576 en_US http://dx.doi.org/10.1109/ACC.2014.6858968 Proceedings of the 2014 American Control Conference Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT web domain |
| spellingShingle | Bresch-Pietri, Delphine Del Vecchio, Domitilla Design of safety distributed control under bounded time-varying communication delay |
| title | Design of safety distributed control under bounded time-varying communication delay |
| title_full | Design of safety distributed control under bounded time-varying communication delay |
| title_fullStr | Design of safety distributed control under bounded time-varying communication delay |
| title_full_unstemmed | Design of safety distributed control under bounded time-varying communication delay |
| title_short | Design of safety distributed control under bounded time-varying communication delay |
| title_sort | design of safety distributed control under bounded time varying communication delay |
| url | http://hdl.handle.net/1721.1/97414 https://orcid.org/0000-0001-6472-8576 |
| work_keys_str_mv | AT breschpietridelphine designofsafetydistributedcontrolunderboundedtimevaryingcommunicationdelay AT delvecchiodomitilla designofsafetydistributedcontrolunderboundedtimevaryingcommunicationdelay |