A Collision-free Communication Scheduling for Nonlinear Model Predictive Control

Kazumune Hashimoto, Shuichi Adachi, Dimos V. Dimarogonas

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

In this paper, we propose a framework to generate communication schedulings for nonlinear model predictive control. The proposed method considers the case where multiple plants share a communication network, and the goal is to pre-plan for each plant a timing to communicate with the controller to solve an optimal control problem. The desired communication schedulings are generated such that: (i) no network collisions occur; (ii) convergence to a prescribed local set around the origin is guaranteed for all plants. When formulating an algorithm, we additionally propose an optimization problem that is similar to the standard collision avoidance problem of controlling multi-agent systems. To validate our proposed scheme, a control problem of three inverted pendulums is simulated.

Original languageEnglish
Pages (from-to)8939-8944
Number of pages6
JournalIFAC-PapersOnLine
Volume50
Issue number1
DOIs
Publication statusPublished - 2017 Jul 1

Fingerprint

Model predictive control
Scheduling
Communication
Collision avoidance
Pendulums
Multi agent systems
Telecommunication networks
Controllers

Keywords

  • Communication Scheduling
  • Event-triggered control
  • Model Predictive Conrol
  • Networked Control Systems
  • Nonlinear Systems

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

A Collision-free Communication Scheduling for Nonlinear Model Predictive Control. / Hashimoto, Kazumune; Adachi, Shuichi; Dimarogonas, Dimos V.

In: IFAC-PapersOnLine, Vol. 50, No. 1, 01.07.2017, p. 8939-8944.

Research output: Contribution to journalArticle

Hashimoto, Kazumune ; Adachi, Shuichi ; Dimarogonas, Dimos V. / A Collision-free Communication Scheduling for Nonlinear Model Predictive Control. In: IFAC-PapersOnLine. 2017 ; Vol. 50, No. 1. pp. 8939-8944.
@article{4015ede445344e13a68d955ba3c03505,
title = "A Collision-free Communication Scheduling for Nonlinear Model Predictive Control",
abstract = "In this paper, we propose a framework to generate communication schedulings for nonlinear model predictive control. The proposed method considers the case where multiple plants share a communication network, and the goal is to pre-plan for each plant a timing to communicate with the controller to solve an optimal control problem. The desired communication schedulings are generated such that: (i) no network collisions occur; (ii) convergence to a prescribed local set around the origin is guaranteed for all plants. When formulating an algorithm, we additionally propose an optimization problem that is similar to the standard collision avoidance problem of controlling multi-agent systems. To validate our proposed scheme, a control problem of three inverted pendulums is simulated.",
keywords = "Communication Scheduling, Event-triggered control, Model Predictive Conrol, Networked Control Systems, Nonlinear Systems",
author = "Kazumune Hashimoto and Shuichi Adachi and Dimarogonas, {Dimos V.}",
year = "2017",
month = "7",
day = "1",
doi = "10.1016/j.ifacol.2017.08.1307",
language = "English",
volume = "50",
pages = "8939--8944",
journal = "IFAC-PapersOnLine",
issn = "2405-8963",
publisher = "IFAC Secretariat",
number = "1",

}

TY - JOUR

T1 - A Collision-free Communication Scheduling for Nonlinear Model Predictive Control

AU - Hashimoto, Kazumune

AU - Adachi, Shuichi

AU - Dimarogonas, Dimos V.

PY - 2017/7/1

Y1 - 2017/7/1

N2 - In this paper, we propose a framework to generate communication schedulings for nonlinear model predictive control. The proposed method considers the case where multiple plants share a communication network, and the goal is to pre-plan for each plant a timing to communicate with the controller to solve an optimal control problem. The desired communication schedulings are generated such that: (i) no network collisions occur; (ii) convergence to a prescribed local set around the origin is guaranteed for all plants. When formulating an algorithm, we additionally propose an optimization problem that is similar to the standard collision avoidance problem of controlling multi-agent systems. To validate our proposed scheme, a control problem of three inverted pendulums is simulated.

AB - In this paper, we propose a framework to generate communication schedulings for nonlinear model predictive control. The proposed method considers the case where multiple plants share a communication network, and the goal is to pre-plan for each plant a timing to communicate with the controller to solve an optimal control problem. The desired communication schedulings are generated such that: (i) no network collisions occur; (ii) convergence to a prescribed local set around the origin is guaranteed for all plants. When formulating an algorithm, we additionally propose an optimization problem that is similar to the standard collision avoidance problem of controlling multi-agent systems. To validate our proposed scheme, a control problem of three inverted pendulums is simulated.

KW - Communication Scheduling

KW - Event-triggered control

KW - Model Predictive Conrol

KW - Networked Control Systems

KW - Nonlinear Systems

UR - http://www.scopus.com/inward/record.url?scp=85031790057&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85031790057&partnerID=8YFLogxK

U2 - 10.1016/j.ifacol.2017.08.1307

DO - 10.1016/j.ifacol.2017.08.1307

M3 - Article

AN - SCOPUS:85031790057

VL - 50

SP - 8939

EP - 8944

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8963

IS - 1

ER -