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Time-varying Nonholonomic Robot Consensus Formation Using Model Predictive Based Protocol With Switching Topology
Xiao, Hanzhen1; Philip Chen, C. L.2,3,4
2021-08-01
Source PublicationInformation Sciences
ISSN0020-0255
Volume567Pages:201-215
Abstract

In this paper, for controlling the time-varying consensus formation (TVCF) of multiply nonholonomic robots under switching information transforming topology, a generalized consensus formation system, which is controlled by a neural-dynamic-optimized distributed model predictive control (NDMPC) based consensus protocol strategy, is developed. The system consists of an auxiliary consensus maneuvering subsystem and a formation tracking subsystem. Through simultaneously stabilizing the generalized errors consisted of these two subsystems under the switching topologies, the consensus object is achieved. Within each sampling time, the NDMPC method can formulate and solve a constrained quadratic programming (QP) problem with time-varying desired formation pattern and get the optimal inputs for each robot in a distributed manner. The constraints of the system, as well as the switching structure brought by the changing topologies, can be tackled by utilizing the proposed method. In the end, numerical examples verify the effectiveness of the proposed formation control method.

KeywordMultiply Nonholonomic Robots Neural-dynamic-optimized Distributed Model Predictive Control (Ndmpc) Time-varying Consensus Formation (Tvcf)
DOI10.1016/j.ins.2021.01.034
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaComputer Science
WOS SubjectComputer Science, Information Systems
WOS IDWOS:000659875500012
Scopus ID2-s2.0-85104149198
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Cited Times [WOS]:8   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorPhilip Chen, C. L.
Affiliation1.School of Automation, Guangdong University of Technology, China
2.School of Computer Science and Engineering, South China University of Technology, China
3.Pazhou Lab, Guangzhou, China
4.Faculty of Science and Technology, University of Macau, China
Corresponding Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Xiao, Hanzhen,Philip Chen, C. L.. Time-varying Nonholonomic Robot Consensus Formation Using Model Predictive Based Protocol With Switching Topology[J]. Information Sciences,2021,567:201-215.
APA Xiao, Hanzhen,&Philip Chen, C. L..(2021).Time-varying Nonholonomic Robot Consensus Formation Using Model Predictive Based Protocol With Switching Topology.Information Sciences,567,201-215.
MLA Xiao, Hanzhen,et al."Time-varying Nonholonomic Robot Consensus Formation Using Model Predictive Based Protocol With Switching Topology".Information Sciences 567(2021):201-215.
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