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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.  +
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
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15 May 2016 06:19:02  +
URL
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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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