Formation Control via Receding Horizon Control: A Set Theoretic Approach

被引：0

作者：

Hatanaka, Takeshi ^{[1
]}

Kitudomrat, Nopthawat ^{[1
]}

Fujita, Masayuki ^{[1
]}

机构：

[1] Tokyo Inst Technol, Tokyo 152, Japan

来源：

2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7 | 2008年

关键词：

Formation Control; Receding Horizon Control; Collision Avoidance; Invariant Set;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we consider a group of agents with state and input constraints. The objective of this paper is to make the agents reach a desired formation while avoiding constraint violations. This paper considers two types of constraints: coupled and decoupled constraints. We prepare so-called a safe region which contains all the pairs of initial states such that both types of constraints are satisfied. In order to meet the objective, we present a distributed receding horizon control algorithm consisting of two algorithms: decision making algorithm and reference management algorithm. We show that the present algorithm achieves constraint fulfillment under some reasonable conditions.

引用

页码：2319 / 2324

页数：6

共 50 条

[31] Receding Horizon Control for Temporal Logic Specifications
Wongpiromsarn, Tichakorn
Topcu, Ufuk
Murray, Richard M.
HSSC 10: PROCEEDINGS OF THE 13TH ACM INTERNATIONAL CONFERENCE ON HYBRID SYSTEMS: COMPUTATION AND CONTROL, 2010, : 101 - 110
[32] Stability margins of nonlinear receding-horizon control via inverse optimality
Magni, L
Sepulchre, R
SYSTEMS & CONTROL LETTERS, 1997, 32 (04) : 241 - 245
[33] Unconstrained receding horizon control with no terminal cost
Jadbabaie, A
Primbs, J
Hauser, J
PROCEEDINGS OF THE 2001 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2001, : 3055 - 3060
[34] ON THE STABILIZABILITY OF THE BURGERS EQUATION BY RECEDING HORIZON CONTROL
Azmi, Behzad
Kunisch, Karl
SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 2016, 54 (03) : 1378 - 1405
[35] Approximation Properties of Receding Horizon Optimal Control
Grüne L.
Jahresbericht der Deutschen Mathematiker-Vereinigung, 2016, 118 (1) : 3 - 37
[36] Move blocking strategies in receding horizon control
Cagienard, R
Grieder, P
Kerrigan, EC
Morari, M
2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5, 2004, : 2023 - 2028
[37] Algorithm and Stability of ATC Receding Horizon Control
Zhang, Hongwei
Huang, Jie
Lewis, Frank L.
ADPRL: 2009 IEEE SYMPOSIUM ON ADAPTIVE DYNAMIC PROGRAMMING AND REINFORCEMENT LEARNING, 2009, : 28 - +
[38] Suboptimal Explicit Receding Horizon Control via Approximate Multiparametric Quadratic Programming
A. Bemporad
C. Filippi
Journal of Optimization Theory and Applications, 2003, 117 : 9 - 38
[39] Suboptimal explicit receding horizon control via approximate multiparametric quadratic programming
Bemporad, A
Filippi, C
JOURNAL OF OPTIMIZATION THEORY AND APPLICATIONS, 2003, 117 (01) : 9 - 38
[40] RBF-Based Receding Horizon Control Approach to Personalized Anemia Treatment
Mirinejad, Hossein
Inane, Tamer
Brier, Michael E.
Gaweda, Adam E.
2015 41ST ANNUAL NORTHEAST BIOMEDICAL ENGINEERING CONFERENCE (NEBEC), 2015,

← 1 2 3 4 5 →