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Communications for Coordinated Control via Covariance Management

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.

Type of Seminar:
Public Seminar
Prof. Robert Bitmead
Mechanical & Aerospace Engineering, University of California, San Diego
Apr 02, 2008   17:15 /

ETH Zurich, Gloriastrasse 35, Building ETZ, Room E6
Contact Person:

Prof. John Lygeros
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Biographical Sketch:
Robert Bitmead holds the Cymer Corporation Chair in the Department of Mechanical and Aerospace Engineering, University of California, San Diego, where he is also the Associate Vice-Chancellor for Academic Personnel. He received his Ph.D. from the University of Newcastle in 1980. He was with the Australian National University Department of Systems Engineering from 1982 to 1999. He is an IFAC Fellow, a Fellow of the Australian Academy of Technological Sciences and Engineering, and a Fellow of the IEEE. He was a member of the IFAC Council from 1996 to 2002 and a member of IFAC Technical Board from 1990 to 1996. He hails originally from Sydney and was the General Chair of the IEEE Conference on Decision and Control there in 2000. He was the Editor of Automatica for Adaptive and Intelligent Control from 2002 to 2005. He is an accredited Australian Rules Football field umpire and officiates in matches across the USA.