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Control Design for Autonomous Vehicles: A Dynamic Optimization Perspective

Control design for autonomous vehicles involves a number of issues that are not satisfactorily addressed in classical control systems theory. There is typically the need for prescribing and commanding a collection of interacting dynamic control systems in order to meet the desired requirements for overall behavior, whereas conventional control design has only one system to govern. This context requires a whole new set of concepts, methods, and tools that are adapted to capture the integration of logical commands, continuous time evolution, and discrete event dynamics. A rapidly growing and extensive body of literature testifies to the valuable heritage of control systems that will address the challenges ahead. Several new issues arise in attempting a principled design of a specific system, and it is essential that they be resolved in order to ground the effort for a suitable control design framework. Furthermore, control design cannot be dissociated from the implementation phase, which introduces a wide range of challenges in communication and computation. This paper provides an overview of three control projects designed at the Underwater Systems and Technology Laboratory, and discusses the new challenges from the dynamic optimization viewpoint.