A new algorithm is proposed for decentralized receding horizon control (DRHC) of multiple cooperative vehicles with limited communication bandwidth. The proposed algorithm uses a communication bandwidth allocation approach to optimize the teaming behavior. With the presented DRHC framework each vehicle uses a model of its neighboring vehicles to predict their future intention. The results from stability and performance analysis of such DRHC architecture suggest that the mismatch between actual and predicted plans of neighboring vehicles plays an important role in stability and performance of the team. Hence, the key idea with the proposed algorithm is to reduce the mismatch parameter by means of an efficient communication bandwidth allocation. Simulation results for the formation control of a team of rotorcrafts show the effectiveness of the proposed algorithm.

In this paper, the optimal solution of differential algebraic equation (DAE) systems over a network of processors is investigated. A sliding-mode control (SMC) approach is used to enforce the algebraic constraints of the DAEs. Time delays associated with network communication give rise to a sliding-control problem with sensor time delays. A new approach is presented that decouples this problem into two independent problems. Using this property, a mixed Hinfinoptimization approach is applied to minimize errors. The results are applied to solve the problem of the optimal bandwidth allocation between the processors under the constraint of limited communication bandwidth. Experimental results for a distributed simulation application on a TDMA network demonstrate the validity of the approach

A unified approach to general constraint motion control is presented. Robotic systems interacting with the task environment having complex dynamics are described as a set of state equations and algebraic constraints; the former represents the dynamics of the individual robots and task processes, and the latter describes the constraints and boundary conditions created by the interactions among the robots and the task processes. The resultant mathematical model of the constrained system is high-index differential-algebraic equations (DAE). This paper provides a powerful solver for this class of high-index DAE by using sliding mode control and singular perturbation theories. The singularly perturbed sliding manifolds method guarantees computational stability and accuracy. A numerical example illustrates the modeling and realization procedure and its computational performance.