Event-based model Predictive control for the cooperation of distributed agents

Alina Eqtami; Dimos V. Dimarogonas; Kostas J. Kyriakopoulos

doi:10.1109/acc.2012.6315560

Event-based model Predictive control for the cooperation of distributed agents

Alina Eqtami, Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper proposes an event-based framework for the control of a team of cooperating distributed agents. The agents are dynamically decoupled and they are controlled locally by Nonlinear Model Predictive Controllers (NMPC). The event-driven framework allows for triggering the solution of the optimal control problem of the NMPC only when it is needed. The scheduling of the control updates for each of the agents depends on an error of the state information received from the neighboring agents. Sufficient conditions for triggering are provided and the results are illustrated through a simulated example.

Original language	English (US)
Title of host publication	2012 American Control Conference, ACC 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6473-6478
Number of pages	6
ISBN (Print)	9781457710957
DOIs	https://doi.org/10.1109/acc.2012.6315560
State	Published - 2012
Event	2012 American Control Conference, ACC 2012 - Montreal, QC, Canada Duration: Jun 27 2012 → Jun 29 2012

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Other

Other	2012 American Control Conference, ACC 2012
Country/Territory	Canada
City	Montreal, QC
Period	6/27/12 → 6/29/12

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/acc.2012.6315560

Cite this

Event-based model Predictive control for the cooperation of distributed agents. / Eqtami, Alina; Dimarogonas, Dimos V.; Kyriakopoulos, Kostas J.
2012 American Control Conference, ACC 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 6473-6478 6315560 (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Eqtami, A, Dimarogonas, DV & Kyriakopoulos, KJ 2012, Event-based model Predictive control for the cooperation of distributed agents. in 2012 American Control Conference, ACC 2012., 6315560, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 6473-6478, 2012 American Control Conference, ACC 2012, Montreal, QC, Canada, 6/27/12. https://doi.org/10.1109/acc.2012.6315560

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AB - This paper proposes an event-based framework for the control of a team of cooperating distributed agents. The agents are dynamically decoupled and they are controlled locally by Nonlinear Model Predictive Controllers (NMPC). The event-driven framework allows for triggering the solution of the optimal control problem of the NMPC only when it is needed. The scheduling of the control updates for each of the agents depends on an error of the state information received from the neighboring agents. Sufficient conditions for triggering are provided and the results are illustrated through a simulated example.

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Event-based model Predictive control for the cooperation of distributed agents

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