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A Collision-free Communication Scheduling for Nonlinear Model Predictive Control
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-7309-8086
2017 (English)In: IFAC-PapersOnLine, ISSN 2405-8963, Vol. 50, no 1, p. 8939-8944Article in journal (Refereed) Published
Abstract [en]

In this paper, we propose a framework to generate communication schedulings for nonlinear model predictive control. The proposed method considers the case where multiple plants share a communication network, and the goal is to pre-plan for each plant a timing to communicate with the controller to solve an optimal control problem. The desired communication schedulings are generated such that: (i) no network collisions occur; (ii) convergence to a prescribed local set around the origin is guaranteed for all plants. When formulating an algorithm, we additionally propose an optimization problem that is similar to the standard collision avoidance problem of controlling multi-agent systems. To validate our proposed scheme, a control problem of three inverted pendulums is simulated.

Place, publisher, year, edition, pages
Elsevier, 2017. Vol. 50, no 1, p. 8939-8944
Keywords [en]
Communication Scheduling, Event-triggered control, Model Predictive Conrol, Networked Control Systems, Nonlinear Systems
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-223063DOI: 10.1016/j.ifacol.2017.08.1307ISI: 000423964900476Scopus ID: 2-s2.0-85031790057OAI: oai:DiVA.org:kth-223063DiVA, id: diva2:1182624
Note

QC 20180214

Available from: 2018-02-14 Created: 2018-02-14 Last updated: 2018-03-05Bibliographically approved

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Dimarogonas, Dimos V.

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
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More styles
Language
  • de-DE
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  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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