Constrained Model Predictive Control: Applications to Multi-Vehicle Formation and an Autonomous Blimp

Author

Fukushima, Hiroaki ; Kon, Kazuyuki ; Matsuno, Fumitoshi ; Hada, Yasushi ; Kawabata, Kuniaki ; Asama, Hajime

Author_Institution

Univ. of Electro-Commun., Chofu

fYear

2006

Firstpage

4515

Lastpage

4520

Abstract

Model predictive control (MFC) is one of the few ways to handle input and output constraints explicitly. Although MFC has been widely applied to chemical process control, the effectiveness for mechanical systems with shorter time constants has not been fully investigated. The goal of this paper is to investigate the applicability of model predictive control to mechanical systems based on experimental examples of multi-vehicle formation and autonomous blimp control

Keywords

aerospace control; aerospace robotics; constraint handling; control system synthesis; integer programming; multi-robot systems; predictive control; vehicle dynamics; autonomous blimp control; constrained model predictive control; input-output constraint handling; mechanical systems; mixed-integer programming; multivehicle formation; Actuators; Chemical processes; Collision avoidance; Control systems; Magnetic materials; Mechanical systems; Photonic crystals; Predictive control; Predictive models; Process control; Constrained system; mixed integer programming; multi-parametric programming;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE-ICASE, 2006. International Joint Conference

Conference_Location

Busan

Print_ISBN

89-950038-4-7

Electronic_ISBN

89-950038-5-5

Type

conf

DOI

10.1109/SICE.2006.315039

Filename

4108474