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Event-based model Predictive control for the cooperation of distributed agents
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2012 (English)In: 2012 American Control Conference (ACC), IEEE Computer Society, 2012, 6473-6478 p.Conference paper (Refereed)
Abstract [en]

This paper proposes an event-based framework for the control of a team of cooperating distributed agents. The agents are dynamically decoupled and they are controlled locally by Nonlinear Model Predictive Controllers (NMPC). The event-driven framework allows for triggering the solution of the optimal control problem of the NMPC only when it is needed. The scheduling of the control updates for each of the agents depends on an error of the state information received from the neighboring agents. Sufficient conditions for triggering are provided and the results are illustrated through a simulated example.

Place, publisher, year, edition, pages
IEEE Computer Society, 2012. 6473-6478 p.
, Proceedings of the American Control Conference, ISSN 0743-1619
Keyword [en]
Distributed agents, Event-based, Event-based model, Non-linear model, Optimal control problem, State information, Sufficient conditions, Model predictive control, Optimal control systems, Predictive control systems
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-108010ISI: 000310776206127ScopusID: 2-s2.0-84869388779ISBN: 978-145771095-7OAI: diva2:580263
2012 American Control Conference, ACC 2012, 27 June 2012 through 29 June 2012, Montreal, QC
ICT - The Next Generation

QC 20121221

Available from: 2012-12-21 Created: 2012-12-19 Last updated: 2013-04-11Bibliographically approved

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ReferencesLink to record
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