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Model Predictive Control of Nonholonomic Chained Systems Using General Projection Neural Networks Optimization
文献类型：期刊论文
| 作者 | Li ZJ(李智军); Xiao, Hanzhen; Yang CG(杨辰光); Zhao YW(赵忆文)
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| 刊名 | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
 |
| 出版日期 | 2015 |
| 卷号 | 45期号:10页码:1313-1321 |
| 关键词 | General projection neural networks (GPNs) model predictive control (MPC) nonholonomic chained systems scaling transformation |
| ISSN号 | 2168-2216 |
| 产权排序 | 1 |
| 通讯作者 | 李智军 |
| 中文摘要 | In this paper, a class of nonholonomic chained systems is first converted into two subsystems, and then an explicit exponential decaying term is introduced into the input of the first subsystem to guarantee its controllability. After a state-scaling transformation, a model predictive control (MPC) scheme is proposed for the nonholonomic chained systems. The proposed MPC scheme employs a general projection neural network (GPN) to iteratively solve a quadratic programming (QP) problem over a finite receding horizon. The GPN employed in this paper is proved to be stable in the sense of Lyapunov, and its global convergence to the optimal solution is guaranteed for the reformulated QP. A simulation study is performed to show stable and convergent control performance under the proposed method, irrespective of whether the control input u(1) vanishes or not. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Computer Science, Cybernetics |
| 研究领域[WOS] | Automation & Control Systems ; Computer Science |
| 关键词[WOS] | NONLINEAR CONTROL-SYSTEMS ; WHEELED MOBILE ROBOTS ; EXPONENTIAL STABILIZATION ; OUTPUT-FEEDBACK ; TRACKING ; TIME ; ALGORITHM |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000361751100002 |
| 源URL | [http://ir.sia.cn/handle/173321/17124]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Li ZJ,Xiao, Hanzhen,Yang CG,et al. Model Predictive Control of Nonholonomic Chained Systems Using General Projection Neural Networks Optimization[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2015,45(10):1313-1321. |
| APA | Li ZJ,Xiao, Hanzhen,Yang CG,&Zhao YW.(2015).Model Predictive Control of Nonholonomic Chained Systems Using General Projection Neural Networks Optimization.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,45(10),1313-1321. |
| MLA | Li ZJ,et al."Model Predictive Control of Nonholonomic Chained Systems Using General Projection Neural Networks Optimization".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 45.10(2015):1313-1321. |
入库方式： OAI收割
来源：沈阳自动化研究所
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