scholarly journals Distributed Parameterized Predictive Control for Multi-robot Curve Tracking

2020 ◽  
Vol 53 (2) ◽  
pp. 3144-3149
Author(s):  
Gabriel V. Pacheco ◽  
Luciano C.A. Pimenta ◽  
Guilherme V. Raffo
Keyword(s):  
Predictive Control ◽  
Curve Tracking ◽  
Multi Robot

MPC Based Feedback-Linearization Strategy of a Fixed-Wing UAV

2020 ◽  
Author(s):  
Leonardo A. A. Pereira ◽  
Luciano C. A. Pimenta ◽  
Guilherme V. Raffo
Keyword(s):  
Predictive Control ◽  
Control Strategy ◽  
Feedback Linearization ◽  
Degrees Of Freedom ◽  
Vehicle Control ◽  
Control Allocation ◽  
Linearization Technique ◽  
Aerial Vehicle ◽  
The Relationship ◽  
Curve Tracking

This work proposes a xed-wing UAV (Ummaned Aerial Vehicle) control strategy based on feedback-linearization and model predictive control (MPC). The strategy makes use of the relationship between the applied control inputs of the UAV and the generalized forces and moments actuating on it. A linear model is obtained by the exact feedback-linearization technique, followed by the use of MPC to solve the trajectory tracking and the control allocation problems. The proposed controller is capable of actuating on the 6 DOF (Degrees of Freedom) of the UAV, avoiding inherited restrictions when the model is decoupled. The proposed strategy is applied in a curve tracking task. Simulations are performed using MATLAB software, and the results show the eciency of the proposed control strategy.

scholarly journals Switched Linear Multi-Robot Navigation Using Hierarchical Model Predictive Control

2017 ◽  
Author(s):  
Chao Huang ◽  
Xin Chen ◽  
Yifan Zhang ◽  
Shengchao Qin ◽  
Yifeng Zeng ◽  
...  
Keyword(s):  
Predictive Control ◽  
Robot Navigation ◽  
Reference Trajectory ◽  
Control Parameters ◽  
Multiple Robots ◽  
High Complexity ◽  
Navigation Problem ◽  
A New Technique ◽  
Theoretical Results ◽  
Multi Robot

Multi-robot navigation control in the absence of reference trajectory is rather challenging as it is expected to ensure stability and feasibility while still offer fast computation on control decisions. The intrinsic high complexity of switched linear dynamical robots makes the problem even more challenging. In this paper, we propose a novel HMPC based method to address the navigation problem of multiple robots with switched linear dynamics. We develop a new technique to compute the reachable sets of switched linear systems and use them to enable the parallel computation of control parameters. We present theoretical results on stability, feasibility and complexity of the proposed approach, and demonstrate its empirical advance in performance against other approaches.

Sign in / Sign up

Export Citation Format

Share Document