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A Design Framework For Hierarchical, Hybrid Control

John Lygeros, Datta N. Godbole and Shankar Sastry

Institute of Transportation Studies, Research Reports, Working Papers, Proceedings from Institute of Transportation Studies, UC Berkeley

Abstract: In this research, the authors focus on the problem of designing hierarchical, hybrid controllers for large scale systems. An overview of the proposed design process is first given. A modeling formalism is then introduced which allows for the modeling of multi-agent systems with hybrid dynamics in a modular fashion. An algorithm that makes use of ideas from game theory to capture the interaction between the agents, derive continuous controllers and quantify the discrete coordination needed to achieve certain performance objectives is presented. The algorithm is then applied to the problem of automated vehicle following. The study concludes with a summary of the proposed scheme and highlights of the major points.

Keywords: Motor vehicles--Automatic control; Express highways--Automation; Intelligent Vehicle Highway Systems (search for similar items in EconPapers)
Date: 1997-01-01
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