A self-triggered Model Predictive Control framework for the cooperation of distributed nonholonomic agents
A self-triggered Model Predictive Control framework for the cooperation of distributed nonholonomic agents
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DOI：
10.1109/cdc.2013.6761061
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发表时间：
2013-12
期刊：
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通讯作者：
Alina Eqtami;Shahab Heshmati-alamdari;Dimos V. Dimarogonas;K. Kyriakopoulos
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文献类型：
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作者：
Alina Eqtami;Shahab Heshmati-alamdari;Dimos V. Dimarogonas;K. Kyriakopoulos
在本文中，我们为合作剂团队提出了具有自触发机制的分散模型预测控制（MPC）框架。非世俗的代理人是在当地控制的，并与邻居交换信息。基于自触发标准安排控制更新的目的是双重的：减少每个代理的控制法的更新并减少代理之间的沟通工作。证明了代理的输入到状态（Abbr。ISS）稳定性，提供了触发条件，然后通过模拟示例描述了理论结果。
In this paper we propose a decentralized Model Predictive Control (MPC) framework with a self-triggering mechanism, for a team of cooperating agents. The nonholonomic agents are controlled locally and exchange information with their neighbors. The aim at scheduling the control updates based on a self-triggering criterion is twofold: to reduce the updates of the control law for each agent and to reduce the communication effort between the agents. The input-to-state (abbr. ISS) stability of the agents is proven, the condition for triggering is provided and the theoretic results are then depicted by a simulated example.