A distributed constrained model predictive control scheme for networked leader-follower formations

被引:0
|
作者
Casavola, Alessandro [1 ]
Famularo, Domenico [1 ]
Franze, Giuseppe [1 ]
Tedesco, Francesco [1 ]
机构
[1] Univ Calabria, DIMES, Via Pietro Bucci,Cubo 42-C, I-87036 Arcavacata Di Rende, CS, Italy
关键词
SYSTEMS;
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 a novel receding horizon control scheme is presented for solving networked leader-follower formation control problems in the presence of time-varying time-delay on the communication channel. The algorithm is based on a reachability analysis where a sequence of nested one-step ahead controllable sets has been derived by taking into account the prescribed state and input constraints, the interconnected nature of the system and the time-delay induced by the network latency. The novelty of the proposed scheme relies on its capability to jointly use sequences of one-step ahead controllable sets and polyhedral state-space partitions in order to compute on-line an admissible and optimal control action via a distributed receding-horizon computational paradigm.
引用
收藏
页码:3346 / 3351
页数:6
相关论文
共 50 条
  • [1] Distributed Receding Horizon Control of Constrained Networked Leader-Follower Formations Subject to Packet Dropouts
    Franze, Giuseppe
    Casavola, Alessandro
    Famularo, Domenico
    Lucia, Walter
    [J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2018, 26 (05) : 1798 - 1809
  • [2] A distributed model predictive control scheme for leader-follower multi-agent systems
    Franze, Giuseppe
    Lucia, Walter
    Tedesco, Francesco
    [J]. INTERNATIONAL JOURNAL OF CONTROL, 2018, 91 (02) : 369 - 382
  • [3] Reachability analysis of networked leader-follower formations
    Casavola, Alessandro
    Famularo, Domenico
    Franze, Giuseppe
    Tedesco, Francesco
    [J]. IFAC PAPERSONLINE, 2015, 48 (23): : 123 - 128
  • [4] Iterative algorithms for distributed leader-follower model predictive control
    Ferraz, Henrique
    Hespanha, Joao P.
    [J]. 2019 IEEE 58TH CONFERENCE ON DECISION AND CONTROL (CDC), 2019, : 3533 - 3539
  • [5] Leader-follower formations subject to false data injections: a resilient distributed model predictive approach
    Famularo, Domenico
    Franze, Giuseppe
    Tedesco, Francesco
    Venturino, Antonello
    [J]. 2023 62ND IEEE CONFERENCE ON DECISION AND CONTROL, CDC, 2023, : 2054 - 2059
  • [6] Distributed Leader-Follower Formation Control for Autonomous Vessels based on Model Predictive Control
    van Pampus, M. J.
    Haseltalab, A.
    Garofano, V
    Reppa, V
    Deinema, Y. H.
    Negenborn, R. R.
    [J]. 2021 EUROPEAN CONTROL CONFERENCE (ECC), 2021, : 2380 - 2387
  • [7] Distributed leader-follower based adaptive consensus control for networked microgrids
    Kandasamy, Jeevitha
    Ramachandran, Rajeswari
    Veerasamy, Veerapandiyan
    Irudayaraj, Andrew Xavier Raj
    [J]. APPLIED ENERGY, 2024, 353
  • [8] Control of leader-follower formations of terrestrial UAVs
    Chen, XP
    Serrani, A
    Özbay, H
    [J]. 42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS, 2003, : 498 - 503
  • [9] Consensus Tracking Control of Leader-Follower Multi-Agent Systems Based on the Networked Predictive Control Scheme
    Wei, Yuxin
    Liu, Guoping
    [J]. 2015 SIXTH INTERNATIONAL CONFERENCE ON INTELLIGENT CONTROL AND INFORMATION PROCESSING (ICICIP), 2015, : 258 - 263
  • [10] DISTRIBUTED LEADER-FOLLOWER FLOCKING CONTROL
    Wang, Zongyao
    Gu, Dongbing
    [J]. ASIAN JOURNAL OF CONTROL, 2009, 11 (04) : 396 - 406