Model predictive control of coordinated multi-vehicle formations

A generalized model predictive control (MPC) formulation is derived that extends the existing theory to a multi-vehicle formation stabilization problem. The vehicles are individually governed by nonlinear and constrained dynamics. The extension considers formation stabilization to a set of permissib...

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Bibliographic Details
Published inProceedings of the 41st IEEE Conference on Decision and Control, 2002 Vol. 4; pp. 4631 - 4636 vol.4
Main Authors Dunbar, W.B., Murray, R.M.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2002
Subjects
Computational modeling
Control system synthesis
Mobile robots
Predictive control
Predictive models
Robot kinematics
Robust stability
Space vehicles
Testing
Vehicle dynamics
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ISBN0780375165
9780780375161
ISSN0191-2216
DOI10.1109/CDC.2002.1185108

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Summary:A generalized model predictive control (MPC) formulation is derived that extends the existing theory to a multi-vehicle formation stabilization problem. The vehicles are individually governed by nonlinear and constrained dynamics. The extension considers formation stabilization to a set of permissible equilibria, rather than a unique equilibrium. Simulations for three vehicle formations with input constrained dynamics on configuration space SE(2) are performed using a nonlinear trajectory generation (NTG) software package developed at Caltech. Preliminary results and an outline of future work for scaling/decentralizing the MPC approach and applying it to an emerging experimental testbed are given.
ISBN:0780375165
9780780375161
ISSN:0191-2216
DOI:10.1109/CDC.2002.1185108