Hybrid Control of Networked Multi-Vehicle System Considering Limitation of Communication Range
In this research, we study a control method of a multivehicle
system while considering the limitation of communication
range for each vehicles. When we control networked vehicles with
limitation of communication range, it is important to control the
communication network structure of a multi-vehicle system in order
to keep the network-s connectivity. From this, we especially aim to
control the network structure to the target structure. We formulate
the networked multi-vehicle system with some disturbance and the
communication constraints as a hybrid dynamical system, and then
we study the optimal control problems of the system. It is shown
that the system converge to the objective network structure in finite
time when the system is controlled by the receding horizon method.
Additionally, the optimal control probrems are convertible into the
mixed integer problems and these problems are solvable by some
branch and bound algorithm.