Abstract
We present a divide and conquer design approach for handling control problems with dynamically changing objectives. The approach is based on associating each objective with a virtual input and then considering a game between a set of (virtual) players, each trying to achieve an objective by controlling the associated virtual input. By guarantying a Nash equilibrium for this game, we synthesize a combined controller that establishes a stable balance between the objectives. To demonstrate the use of the approach, we describe how a controller for a non-linear system (quadrotor) can be designed to handle competing objectives that change in time. The example shows how our approach allows to model each of the objectives separately and to combine them using game theory.
Original language | American English |
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Title of host publication | 29th Mediterranean Conference on Control and Automation, MED 2021 |
Pages | 298-304 |
Number of pages | 7 |
ISBN (Electronic) | 9781665422581 |
DOIs | |
State | Published - 22 Jun 2021 |
Event | 29th Mediterranean Conference on Control and Automation, MED 2021 - Bari, Puglia, Italy Duration: 22 Jun 2021 → 25 Jun 2021 |
Conference
Conference | 29th Mediterranean Conference on Control and Automation, MED 2021 |
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Country/Territory | Italy |
City | Bari, Puglia |
Period | 22/06/21 → 25/06/21 |
Keywords
- Automation
- Differential games
- Games
- Nash equilibrium
All Science Journal Classification (ASJC) codes
- Decision Sciences (miscellaneous)
- Engineering (miscellaneous)
- Control and Optimization