Decentralized receding horizon control with communication bandwidth allocation for multiple vehicle systems

• Published in: Optimal control applications & methods Vol. 33; no. 1; pp. 1 - 22
• Main Authors: Izadi, H. A., Gordon, B. W., Rabbath, C. A.
• Format: Journal Article
• Language: English
• Published: Chichester, UK John Wiley & Sons, Ltd 01.01.2012
• Subjects: bandwidth allocation; communication delay; cooperative control; decentralized receding horizon control (DRHC); model predictive control
• ISSN: 0143-2087; 1099-1514
• DOI: 10.1002/oca.973

SUMMARY In this paper, a decentralized receding horizon control (DRHC) for a group of cooperative vehicles is investigated where the communication bandwidth is limited. This gives rise to a DRHC problem with communication delays. A new approach is proposed to vary the communication bandwidth for each vehicle, subject to network bandwidth constraints, in order to improve the cooperation performance. In the DRHC approach, each vehicle predicts its future trajectory over a prediction horizon and the neighboring vehicles exchange their predicted trajectories at each sample time to maintain the cooperation objectives. A delayed DRHC architecture is formulated that explicitly accounts for the inter‐vehicle communication delays. Then a bandwidth allocation algorithm is proposed for the delayed DRHC formulation. The key idea with the proposed approach is that each vehicle minimizes an error bound due to the mismatch between the delayed and updated neighbor's trajectories. This allows a dynamic bandwidth allocation to optimize the group performance. Simulation of formation of a group of vehicles is used to demonstrate the effectiveness of the approach. Copyright © 2010 John Wiley & Sons, Ltd.