Incremental Updating Multirobot Formation Using Nonlinear Model Predictive Control Method With General Projection Neural Network

doi:10.1109/TIE.2018.2864707

	Incremental Updating Multirobot Formation Using Nonlinear Model Predictive Control Method With General Projection Neural Network
	Xiao, Hanzhen 1; Chen, C. L. Philip 2,3,4
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	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.
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关键词	OPTIMIZATION ; STABILITY ; TRACKING ; SYSTEMS ; ROBOTS
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000457598700034
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
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/25267]
专题	中国科学院自动化研究所
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.