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Model Predictive Control of Coordinated Multi-Vehicle Formations |
Abstract |
A generalized model predictive control (MP … 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 con¯guration 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. n emerging experimental testbed are given. +
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Authors | William B. Dunbar and Richard M. Murray + |
ID | 2002e + |
Source | Submitted, 2002 Conference on Decision and Control (CDC) + |
Tag | dm02-cdc + |
Title | Model Predictive Control of Coordinated Multi-Vehicle Formations + |
Type | Conference Paper + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:19:02 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/dm02-cdc.pdf + |
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Model Predictive Control of Coordinated Multi-Vehicle Formations + | Title |
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