Ajorlou, Amir, Moezzi, Kaveh, Aghdam, Amir G. and Nersesov, Sergey G. (2013) Twostage timeoptimal formation reconfiguration strategy. Systems & Control Letters, 62 (6). pp. 496502. ISSN 01676911

Text (application/pdf)
195kBAghdam2013b.pdf  Submitted Version 
Official URL: http://dx.doi.org/10.1016/j.sysconle.2013.02.001
Abstract
A timeoptimal reconfiguration strategy for formation flying of autonomous accelerationcontrolled agents is presented. In the proposed strategy, the agents are moved to a special designated formation in the time interval between the completion of the mission in the current formation and the issuance of the next reconfiguration command. It is shown that the problem of finding the special designated formation which minimizes the expected value of the reconfiguration time is nonconvex. This optimization problem is treated for two cases of constrained acceleration, and constrained acceleration and velocity. It is shown that in both cases, the search space for finding the special designated formation can be reduced to a convex compact set. An alternative search algorithm is presented for the second case, which consists of searching a vicinity of possible formations, and solving a convex nondifferentiable optimization problem. This search algorithm is typically much faster than the one concerning the acceleration constraint only. The effectiveness of the proposed strategy is illustrated by simulation.
Divisions:  Concordia University > Gina Cody School of Engineering and Computer Science > Electrical and Computer Engineering 

Item Type:  Article 
Refereed:  Yes 
Authors:  Ajorlou, Amir and Moezzi, Kaveh and Aghdam, Amir G. and Nersesov, Sergey G. 
Journal or Publication:  Systems & Control Letters 
Date:  2013 
Digital Object Identifier (DOI):  10.1016/j.sysconle.2013.02.001 
Keywords:  Multiagent systems; Formation; Optimization 
ID Code:  977286 
Deposited By:  DANIELLE DENNIE 
Deposited On:  21 May 2013 17:57 
Last Modified:  18 Jan 2018 17:44 
References:
[1]P.R. Lawson, The terrestrial planet finder, in: Proceedings of IEEE Aerospace Conference, 2001, pp. 2005–2011.[2]D.W. Casbeer, D.B. Kingston, R.W. Beard, T.W. Mclain Cooperative forest fire surveillance using a team of small unmanned air vehicles International Journal of Systems Science, 37 (6) (2006), pp. 351–360
[3]N. Lechevin, C.A. Rabbath, P. Sicard Trajectory tracking of leaderfollower formations characterized by constant lineofsight angles Automatica, 42 (12) (2006), pp. 2131–2141
[4]D.P. Scharf, F.Y. Hadaegh, S.R. Ploen, A survey of spacecraft formation flying guidance and control (part i): guidance, in: Proceedings of American Control Conference, 2003, pp. 1733–1739.
[5]D.P. Scharf, F.Y. Hadaegh, S.R. Ploen, A survey of spacecraft formation flying guidance and control (part ii): control, in: Proceedings of American Control Conferences, 2004, pp. 2976–2985.
[6]Saeid Jafari, Amir Ajorlou, Amir G. Aghdam, Siamak Tafazoli, Distributed control of formation flying spacecraft using deterministic communication schedulers, in: Proceedings of the 49th IEEE Conference on Decision and Control, 2010, pp. 3084–3090.
[7]J. Lavaei, A. Momeni, A.G. Aghdam
A model predictive decentralized control scheme with reduced communication requirement for spacecraft formation
IEEE Transactions on Control Systems Technology, 16 (2) (2008), pp. 268–278
[8]R.W. Beard, F.Y. Hadaegh Fuel optimized rotation for satellite formations in free space Proceedings of American Control Conference (1999), pp. 2975–2979
[9]M.B. Milam, N. Petit, R.M. Murray, Constrained trajectory generation for microsatellite formation flying, in: Proceedings of AIAA Guidance, Navigation and Control Conference, 2001, pp. 328–333.
[10]O. Junge, S. OberBlöbaum, Optimal reconfiguration of formation flying satellites, in: Proceedings of the 44th IEEE Conference on Decision and Control, 2005, pp. 66–71.
[11]J. Hu, M. Prandini, S. Sastry Optimal coordinated maneuvers for three dimensional aircraft conflict resolution. AIAA Journal of Guidance, Control and Dynamics, 25 (5) (2002), pp. 888–900
[12]E. Frazzoli, Z.H. Mao, J.H. Oh, E. Feron Resolution of conflicts involving many aircraft via semidefinite programming AIAA Journal of Guidance, Control and Dynamics, 24 (1) (2001), pp. 79–86
[13]C. Sultan, S. Seereeram, R.K. Mehra, F.Y. Hadaegh, Energy optimal reconfiguration for large scale formation flying, in: Proceedings of American Control Conference, 2004, pp. 2986–2991.
[14]C. Xiang, A.G. Aghdam, A twostage formation flying strategy to reduce the mission time, in: Proceedings of IEEE International Conference on System of Systems Engineering, 2007.
[15]Amir Ajorlou, Kaveh Moezzi, Amir G. Aghdam, Siamak Tafazoli, Sergey G. Nersesov Twostage energyoptimal formation reconfiguration strategy Automatica (2012) http://dx.doi.org/10.1016/j.automatica.2012.06.059
[16] K.C. Kiwiel Methods of Descent for Nondifferentiable Optimization SpringerVerlag (1985)
[17] M.L. Balinski, P.M. Wolfe, D.P. Bertsekas Nondifferentiable Optimization NorthHolland Publishing Company (1975)
[18] N.Z. Shor Minimization Methods for NonDifferentiable Functions, Springer Series in Computational Mathematics (1985)
[19] D.P. Bertsekas, A. Nedic, A.E. Ozdaglar Convex Analysis and Optimization Athena Scientific (2003)
[20] D.P. Bertsekas Nonlinear Programming Athena Scientific (1999)
[21] S.P. Boyd, C.H. Barratt Linear Controller Design: Limits of Performance PrenticeHall (1991)
[22] Jonathan M Borwein, Adrian S. Lewis Convex Analysis and Nonlinear Optimization: Theory and Examples Birkhauser (2006)
[23] Kenneth R. Davidson, Allan P. Donsig Real Analysis and Applications: Theory in Practice Springer (2010)
Repository Staff Only: item control page