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Event-based model Predictive control for the cooperation of distributed agents
- Eqtami, A. (author)
-
- Dimarogonas, Dimos V. (author)
- KTH,Reglerteknik,ACCESS Linnaeus Centre
- Kyriakopoulos, K. J. (author)
- (creator_code:org_t)
- IEEE Computer Society, 2012
- 2012
- English.
- In: 2012 American Control Conference (ACC). - : IEEE Computer Society. - 9781457710957 ; , s. 6473-6478
- Conference paper (peer-reviewed)
Abstract
Subject headings
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- This paper proposes an event-based framework for the control of a team of cooperating distributed agents. The agents are dynamically decoupled and they are controlled locally by Nonlinear Model Predictive Controllers (NMPC). The event-driven framework allows for triggering the solution of the optimal control problem of the NMPC only when it is needed. The scheduling of the control updates for each of the agents depends on an error of the state information received from the neighboring agents. Sufficient conditions for triggering are provided and the results are illustrated through a simulated example.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Keyword
- Distributed agents
- Event-based
- Event-based model
- Non-linear model
- Optimal control problem
- State information
- Sufficient conditions
- Model predictive control
- Optimal control systems
- Predictive control systems
Publication and Content Type
- ref (subject category)
- kon (subject category)
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