CASIA OpenIR
Incremental Updating Multirobot Formation Using Nonlinear Model Predictive Control Method With General Projection Neural Network
Xiao, Hanzhen1; Chen, C. L. Philip2,3,4
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
2019-06-01
Volume66Issue:6Pages:4502-4512
Corresponding AuthorChen, C. L. Philip(philip.chen@ieee.org)
AbstractIn this paper, an incremental centralized formation system is developed for controlling the multirobot formation with joining robots, and a nonlinear model predictive control (NMPC) method is implemented as the controller. The incremental updating method is used to update the system's state in real time, when there is a new robot joining during the formation process. Then, an NMPC approach is developed to reformulate the formation system into a convex nonlinear minimization problem, which can be further transformed into a quadratic programming (QP) with constraints. Then, a general projection neural network (GPNN) is implemented for solving this QP problem online to get the optimal inputs. In the end, two examples of incremental multirobot formation are demonstrated to verify the effectiveness of this method.
KeywordGeneral projection neural network (GPNN) incremental updating method multirobot formation control nonlinear model predictive control (NMPC)
DOI10.1109/TIE.2018.2864707
WOS KeywordOPTIMIZATION ; STABILITY ; TRACKING ; SYSTEMS ; ROBOTS
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[61751202] ; National Natural Science Foundation of China[61751205] ; National Natural Science Foundation of China[61572540] ; Macau Science and Technology Development Fund (FDCT)[079/2017/A2] ; Macau Science and Technology Development Fund (FDCT)[024/2015/AMJ] ; Macau Science and Technology Development Fund (FDCT)[019/2015/A1] ; Multiyear Research Grants of the University of Macau
Funding OrganizationNational Natural Science Foundation of China ; Macau Science and Technology Development Fund (FDCT) ; Multiyear Research Grants of the University of Macau
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000457598700034
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/25268
Collection中国科学院自动化研究所
Corresponding AuthorChen, C. L. Philip
Affiliation1.Univ Macau, Fac Sci & Technol, Dept Comp & Informat Sci, Macau 999078, Peoples R China
2.Univ Macau, Fac Sci & Technol, Macau 999078, Peoples R China
3.Dalian Maritime Univ, Dalian 116026, Peoples R China
4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100080, Peoples R China
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Xiao, Hanzhen,Chen, C. L. Philip. Incremental Updating Multirobot Formation Using Nonlinear Model Predictive Control Method With General Projection Neural Network[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2019,66(6):4502-4512.
APA Xiao, Hanzhen,&Chen, C. L. Philip.(2019).Incremental Updating Multirobot Formation Using Nonlinear Model Predictive Control Method With General Projection Neural Network.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,66(6),4502-4512.
MLA Xiao, Hanzhen,et al."Incremental Updating Multirobot Formation Using Nonlinear Model Predictive Control Method With General Projection Neural Network".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 66.6(2019):4502-4512.
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