A Collision-free Communication Scheduling for Nonlinear Model Predictive Control

Kazumune Hashimoto, Shuichi Adachi, Dimos V. Dimarogonas

研究成果: Article査読

3 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)8939-8944
ページ数6
ジャーナルIFAC-PapersOnLine
50
1
DOI
出版ステータスPublished - 2017 7月

ASJC Scopus subject areas

  • 制御およびシステム工学

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