Distributed Data-Driven Control of Transportation Networks

Vladimir Toro (1) , Eduardo Mojica-Nava (1) , Naly Rakoto-Ravalontsalama (2, 3)

1 UNAL - Universidad Nacional de Colombia [Bogotà]
2 IMT Atlantique - DAPI - Département Automatique, Productique et Informatique
3 LS2N - équipe CPS3 - Conception, Pilotage, Surveillance et Supervision des systèmes

This paper presents a data-driven control for a network of autonomous vehicles. The general scheme of cruise control is implemented for a set of vehicles defined by a nonlinear equation. Koopman operator allows representing the nonlinear system in the Koopman space (lifted space), suitable to get a linear observer that is used for distributed control instead of the nonlinear model. The proposed control simplified the control design and also allows to use a linear Model Predictive Control (MPC) in a distributed form.

Domaines: Sciences de l'ingénieur [physics]

Vladimir Toro, Eduardo Mojica-Nava, Naly Rakoto-Ravalontsalama. Distributed Data-Driven Control of Transportation Networks. MIM 2022: IFAC Conference on Manufacturing Modelling, Management and Control, Jun 2022, Nantes, France. pp.239-244, ⟨10.1016/j.ifacol.2022.09.395⟩. ⟨hal-03860561⟩