Proceedings of the Japan Joint Automatic Control Conference
THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE
Session ID : 205
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Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Design of Control Systems 1
Decentralized LQG Control Considering Collision-Avoidance for Identical Decoupled Systems
*Shunichi Kawai, Hroaki Satoh, Kenko Uchida
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Keywords: Decentralized control, Decentralized LQG control, Collision-Avoidance, Identical Decoupled Systems
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Abstract
A stabilization problem where a desired formation is made up by controlling locally a relative position and a relative velocity is an example of a decentralized control problem. In this paper, focusing on such a control problem, we propose a design method of decentralized LQG controller, considering collisionavoidance for identically decoupled system, based on a local LQG controller design method using a local Kalman filter and a potential function as a state weighting function. To verify effectiveness of our design method, we execute numerical simulations with 2*9 dimensional example.
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© 2010 JSME
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