This paper introduces the multiattribute utility theory to the control Lyapunov function design framework. As an illustration we focus on the problem of multi-target assignment. With this formulation, we use a global multiattribute utility function as a multivariate objective function that should be minimized for the agents to achieve their objectives. The objectives represent deviations of each agent from specified targets. We provide closed form feedback control laws, based on the multiattribute utility function, for general nonlinear multi-agent system models affine in control. Finally, we present simulation results and conduct sensitivity analysis for two different models that are affine in control; basic kinematic model and nonlinear nonholonomic unicycle model.
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ASME 2009 Dynamic Systems and Control Conference
October 12–14, 2009
Hollywood, California, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4893-7
PROCEEDINGS PAPER
A Multiattribute Utility Approach to Target Assignment
Xi Chen,
Xi Chen
University of Illinois at Urbana-Champaign, Urbana, IL
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Ali E. Abbas,
Ali E. Abbas
University of Illinois at Urbana-Champaign, Urbana, IL
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Dusˇan M. Stipanovic´
Dusˇan M. Stipanovic´
University of Illinois at Urbana-Champaign, Urbana, IL
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Xi Chen
University of Illinois at Urbana-Champaign, Urbana, IL
Ali E. Abbas
University of Illinois at Urbana-Champaign, Urbana, IL
Dusˇan M. Stipanovic´
University of Illinois at Urbana-Champaign, Urbana, IL
Paper No:
DSCC2009-2594, pp. 419-425; 7 pages
Published Online:
September 16, 2010
Citation
Chen, X, Abbas, AE, & Stipanovic´, DM. "A Multiattribute Utility Approach to Target Assignment." Proceedings of the ASME 2009 Dynamic Systems and Control Conference. ASME 2009 Dynamic Systems and Control Conference, Volume 2. Hollywood, California, USA. October 12–14, 2009. pp. 419-425. ASME. https://doi.org/10.1115/DSCC2009-2594
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