Distributed Constrained NMPC with Infeasibility Handling Applied to Formation Control of Nonholonomic Vehicles

This paper presents a distributed constrained nonlinear model predictive controller with infeasibility handling for formation control of a group of nonholonomic vehicles. In this approach, the controllers are distributed to the agents, and the coupling is done explicitly through local objective func...

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Bibliographic Details
Published inJournal of control, automation & electrical systems Vol. 26; no. 6; pp. 599 - 608
Main Authors Ribeiro, Tiago T., da Costa, Augusto L., Conceição, André G. S.
Format Journal Article
LanguageEnglish
Published New York Springer US 01.12.2015
Subjects
Control
Control and Systems Theory
Electrical Engineering
Engineering
Mechatronics
Robotics
Robotics and Automation
Mobile robots
Formation control
Nonlinear model predictive control
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Summary:This paper presents a distributed constrained nonlinear model predictive controller with infeasibility handling for formation control of a group of nonholonomic vehicles. In this approach, the controllers are distributed to the agents, and the coupling is done explicitly through local objective functions. A strategy based on constraints relaxing is proposed to solve the problem of high-value state and formation errors, factors that directly affect feasibility and stability. Experimental results with commercial robots are provided to demonstrate the performance of the proposed control strategy.
ISSN:2195-3880
2195-3899
DOI:10.1007/s40313-015-0208-0