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dc.contributor.authorBresch-Pietri, Delphine
dc.contributor.authorDel Vecchio, Domitilla
dc.date.accessioned2015-06-15T15:49:48Z
dc.date.available2015-06-15T15:49:48Z
dc.date.issued2014-06
dc.identifier.isbn978-1-4799-3274-0
dc.identifier.isbn978-1-4799-3272-6
dc.identifier.isbn978-1-4799-3271-9
dc.identifier.issn0743-1619
dc.identifier.urihttp://hdl.handle.net/1721.1/97414
dc.description.abstractThis paper addresses the design of a distributed safety controller for two agents, subject to communication delay. The control objective is to ensure safety, meaning that the state of the two-agent system does not enter an undesired set in the state space. Our approach is based on the computation of the complementary set to the maximal controlled invariant set, and on a state estimation procedure which guarantees control agreement between the two agents. We solve the safety control problem for any bounded communication delay, assuming that the two agents share the same internal clock. Performance of the controller and relevance of the proposed approach are discussed in light of simulations performed for a collision avoidance problem between two semi-autonomous vehicles at an intersection.en_US
dc.description.sponsorshipNational Science Foundation (U.S.) (Award 0930081)en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/ACC.2014.6858968en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceMIT web domainen_US
dc.titleDesign of safety distributed control under bounded time-varying communication delayen_US
dc.typeArticleen_US
dc.identifier.citationBresch-Pietri, Delphine, and Domitilla Del Vecchio. “Design of Safety Distributed Control Under Bounded Time-Varying Communication Delay.” 2014 American Control Conference (June 2014).en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.mitauthorBresch-Pietri, Delphineen_US
dc.contributor.mitauthorDel Vecchio, Domitillaen_US
dc.relation.journalProceedings of the 2014 American Control Conferenceen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsBresch-Pietri, Delphine; Del Vecchio, Domitillaen_US
dc.identifier.orcidhttps://orcid.org/0000-0001-6472-8576
mit.licenseOPEN_ACCESS_POLICYen_US
mit.metadata.statusComplete


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