Self-triggered model predictive control framework for the cooperation of distributed nonholonomic agents

Alina Eqtami; Shahab Heshmati-Alamdari; Dimos V. Dimarogonas; Kostas J. Kyriakopoulos

doi:10.1109/CDC.2013.6761061

Self-triggered model predictive control framework for the cooperation of distributed nonholonomic agents

Alina Eqtami, Shahab Heshmati-Alamdari, Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

Electrical Engineering

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

Abstract

In this paper we propose a decentralized Model Predictive Control (MPC) framework with a self-triggering mechanism, for a team of cooperating agents. The nonholonomic agents are controlled locally and exchange information with their neighbors. The aim at scheduling the control updates based on a self-triggering criterion is twofold: To reduce the updates of the control law for each agent and to reduce the communication effort between the agents. The input-to-state (abbr. ISS) stability of the agents is proven, the condition for triggering is provided and the theoretic results are then depicted by a simulated example.

Original language	English (US)
Title of host publication	2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7384-7389
Number of pages	6
ISBN (Print)	9781467357173
DOIs	https://doi.org/10.1109/CDC.2013.6761061
State	Published - 2013
Event	52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy Duration: Dec 10 2013 → Dec 13 2013

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	52nd IEEE Conference on Decision and Control, CDC 2013
Country/Territory	Italy
City	Florence
Period	12/10/13 → 12/13/13

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2013.6761061

Cite this

Eqtami, A., Heshmati-Alamdari, S., Dimarogonas, D. V., & Kyriakopoulos, K. J. (2013). Self-triggered model predictive control framework for the cooperation of distributed nonholonomic agents. In 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013 (pp. 7384-7389). Article 6761061 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2013.6761061

Self-triggered model predictive control framework for the cooperation of distributed nonholonomic agents. / Eqtami, Alina; Heshmati-Alamdari, Shahab; Dimarogonas, Dimos V. et al.
2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013. Institute of Electrical and Electronics Engineers Inc., 2013. p. 7384-7389 6761061 (Proceedings of the IEEE Conference on Decision and Control).

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

Eqtami, A, Heshmati-Alamdari, S, Dimarogonas, DV & Kyriakopoulos, KJ 2013, Self-triggered model predictive control framework for the cooperation of distributed nonholonomic agents. in 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013., 6761061, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 7384-7389, 52nd IEEE Conference on Decision and Control, CDC 2013, Florence, Italy, 12/10/13. https://doi.org/10.1109/CDC.2013.6761061

Eqtami A, Heshmati-Alamdari S, Dimarogonas DV, Kyriakopoulos KJ. Self-triggered model predictive control framework for the cooperation of distributed nonholonomic agents. In 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013. Institute of Electrical and Electronics Engineers Inc. 2013. p. 7384-7389. 6761061. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2013.6761061

Eqtami, Alina ; Heshmati-Alamdari, Shahab ; Dimarogonas, Dimos V. et al. / Self-triggered model predictive control framework for the cooperation of distributed nonholonomic agents. 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013. Institute of Electrical and Electronics Engineers Inc., 2013. pp. 7384-7389 (Proceedings of the IEEE Conference on Decision and Control).

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AB - In this paper we propose a decentralized Model Predictive Control (MPC) framework with a self-triggering mechanism, for a team of cooperating agents. The nonholonomic agents are controlled locally and exchange information with their neighbors. The aim at scheduling the control updates based on a self-triggering criterion is twofold: To reduce the updates of the control law for each agent and to reduce the communication effort between the agents. The input-to-state (abbr. ISS) stability of the agents is proven, the condition for triggering is provided and the theoretic results are then depicted by a simulated example.

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Self-triggered model predictive control framework for the cooperation of distributed nonholonomic agents

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