DocumentCode :
2692093
Title :
Multiagent hybrid system design using game theory and optimal control
Author :
Lygeros, John ; Godbole, Datta N. ; Sastry, Shankar
Author_Institution :
Intelligent Machines & Robotics Lab., California Univ., Berkeley, CA, USA
Volume :
2
fYear :
1996
fDate :
11-13 Dec 1996
Firstpage :
1190
Abstract :
A methodology for designing hybrid controllers for large scale, multiagent systems is presented. Our approach is based on optimal control and game theory. The hybrid design is seen as a game between two players: the control, which is to be chosen by the designer and the disturbances that encode the actions of other agents (in a multi-agent setting), the actions of high level controllers or the usual unmodeled environmental disturbances. The two players compete over cost functions that encode properties that the closed loop hybrid system needs to satisfy (e.g., safety). The control “wins” the game if it can keep the system “safe” for any allowable disturbance. The solution to the game theory problem provides the designer with continuous controllers as well as sets of safe states where the control “wins” the game. The sets of safe states are used to construct an interface to the discrete domain that guarantees the safe operation of the combined hybrid system. The design methodology is illustrated by means of examples
Keywords :
control system synthesis; game theory; hierarchical systems; large-scale systems; optimal control; closed-loop hybrid system; game theory; high-level controllers; large-scale multiagent systems; multiagent hybrid system design; optimal control; safety; unmodeled environmental disturbances; Automatic control; Centralized control; Control systems; Design methodology; Game theory; Intelligent robots; Optimal control; Process design; Reliability engineering; Road transportation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
ISSN :
0191-2216
Print_ISBN :
0-7803-3590-2
Type :
conf
DOI :
10.1109/CDC.1996.572647
Filename :
572647
Link To Document :
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