Incremental Updating Multirobot Formation Using Nonlinear Model Predictive Control Method With General Projection Neural Network
文献类型：期刊论文
| 作者 | Xiao, Hanzhen1; Chen, C. L. Philip2,3,4 |
| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
 |
| 出版日期 | 2019-06-01 |
| 卷号 | 66期号:6页码:4502-4512 |
| 关键词 | General projection neural network (GPNN) incremental updating method multirobot formation control nonlinear model predictive control (NMPC) |
| ISSN号 | 0278-0046 |
| DOI | 10.1109/TIE.2018.2864707 |
| 通讯作者 | Chen, C. L. Philip(philip.chen@ieee.org) |
| 英文摘要 | In 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. |
| WOS关键词 | OPTIMIZATION ; STABILITY ; TRACKING ; SYSTEMS ; ROBOTS |
| 资助项目 | National 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 |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000457598700034 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Macau Science and Technology Development Fund (FDCT) ; Multiyear Research Grants of the University of Macau |
| 源URL | [http://ir.ia.ac.cn/handle/173211/25267]  |
| 专题 | 离退休人员 |
| 通讯作者 | Chen, C. L. Philip |
| 作者单位 | 1.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 |
| 推荐引用方式 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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