Self-triggered model predictive control framework for the cooperation of distributed nonholonomic agents
2013 (English)In: 2013 IEEE 52nd Annual Conference on Decision and Control (CDC), IEEE conference proceedings, 2013, 7384-7389 p.Conference paper (Refereed)
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
Model predictive control, Scheduling, Control laws, Cooperating agents, Decentralized model predictive controls, Input-to-state, Model predictive, Nonholonomics, Self-triggering, Predictive control systems
IdentifiersURN: urn:nbn:se:kth:diva-150865DOI: 10.1109/CDC.2013.6761061ISI: 000352223508053ScopusID: 2-s2.0-84902322712ISBN: 978-146735717-3OAI: oai:DiVA.org:kth-150865DiVA: diva2:745847
52nd IEEE Conference on Decision and Control, CDC 2013, 10 December 2013 through 13 December 2013, Florence, Italy
QC 201409112014-09-112014-09-112015-12-08Bibliographically approved