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Self-triggered model predictive control framework for the cooperation of distributed nonholonomic 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
2013 (English)In: 2013 IEEE 52nd Annual Conference on Decision and Control (CDC), IEEE conference proceedings, 2013, 7384-7389 p.Conference paper (Refereed)
Abstract [en]

In this paper we propose a decentralized Model Predictive Control (MPC) framework with a self-triggering mechanism, for a team of cooperating agents. The nonholonomic agents are controlled locally and exchange information with their neighbors. The aim at scheduling the control updates based on a self-triggering criterion is twofold: To reduce the updates of the control law for each agent and to reduce the communication effort between the agents. The input-to-state (abbr. ISS) stability of the agents is proven, the condition for triggering is provided and the theoretic results are then depicted by a simulated example.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2013. 7384-7389 p.
, IEEE Conference on Decision and Control. Proceedings, ISSN 0743-1546
Keyword [en]
Model predictive control, Scheduling, Control laws, Cooperating agents, Decentralized model predictive controls, Input-to-state, Model predictive, Nonholonomics, Self-triggering, Predictive control systems
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-150865DOI: 10.1109/CDC.2013.6761061ISI: 000352223508053ScopusID: 2-s2.0-84902322712ISBN: 978-146735717-3OAI: diva2:745847
52nd IEEE Conference on Decision and Control, CDC 2013, 10 December 2013 through 13 December 2013, Florence, Italy

QC 20140911

Available from: 2014-09-11 Created: 2014-09-11 Last updated: 2015-12-08Bibliographically approved

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Dimarogonas, Dimos V.
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