Distributed Constrained NMPC with Infeasibility Handling Applied to Formation Control of Nonholonomic Vehicles
| Autor: | Tiago Trindade Ribeiro, André Gustavo Scolari Conceição, Augusto Loureiro da Costa |
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| Rok vydání: | 2015 |
| Předmět: |
Nonholonomic system
Engineering Mathematical optimization business.industry Control (management) Stability (learning theory) Energy Engineering and Power Technology Mobile robot Computer Science Applications Coupling (computer programming) Control and Systems Engineering Control theory Nonlinear model Robot State (computer science) Electrical and Electronic Engineering business |
| Zdroj: | Journal of Control, Automation and Electrical Systems. 26:599-608 |
| ISSN: | 2195-3899 2195-3880 |
| Popis: | This paper presents a distributed constrained nonlinear model predictive controller with infeasibility handling for formation control of a group of nonholonomic vehicles. In this approach, the controllers are distributed to the agents, and the coupling is done explicitly through local objective functions. A strategy based on constraints relaxing is proposed to solve the problem of high-value state and formation errors, factors that directly affect feasibility and stability. Experimental results with commercial robots are provided to demonstrate the performance of the proposed control strategy. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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