Composition of Dynamic Control Objectives Based on Differential Games.

Joshua Shay Kricheli, Aviran Sadon, Shai Arogeti, Shimon Regev, Gera Weiss

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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 languageEnglish GB
Title of host publication2021 29th Mediterranean Conference on Control and Automation, MED 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages298-304
Number of pages7
ISBN (Electronic)9781665422581
DOIs
StatePublished - 22 Jun 2021
Event29th Mediterranean Conference on Control and Automation, MED 2021 - Bari, Puglia, Italy
Duration: 22 Jun 202125 Jun 2021

Publication series

Name2021 29th Mediterranean Conference on Control and Automation, MED 2021

Conference

Conference29th Mediterranean Conference on Control and Automation, MED 2021
Country/TerritoryItaly
CityBari, Puglia
Period22/06/2125/06/21

Keywords

  • Nash equilibrium
  • Automation
  • Games
  • Differential games

ASJC Scopus subject areas

  • Decision Sciences (miscellaneous)
  • Engineering (miscellaneous)
  • Control and Optimization

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