UM
General Projection Neural Network Based Nonlinear Model Predictive Control for Multi-Robot Formation and Tracking
Xiao H.3; Philip Chen C.L.3; Li T.1; Han M.2
2017-07-01
Source PublicationIFAC-PapersOnLine
ISSN24058963
Volume50Issue:1Pages:838-843
AbstractFor controlling the multi-robot formation system, a general projection neural network based nonlinear model predictive control (NMPC) strategy is proposed in this paper. The multi-robot formation system consists of the trajectory tracking of leader robot and the leader-follower formation controlling. Their kinematic error systems can be reformulated as a convex nonlinear minimization problem by the NMPC method and can be transformed into a constrained quadratic programming (QP) optimization problem. To solve this QP problem online efficiently, a general projection neural network (GPNN) is applied to obtain the optimal solution, which includes the optimal inputs of the formation system. Compare to other existing leader-follower approaches, the proposed nonlinear MPC method can take the input and state constraints of system into consideration. In the end of this work, simulations of the trajectory tracking and multi-robot formation are performed to verify the effectiveness of the developed strategy.
KeywordGeneral projection neural network (GPNN) Multi-robot formation control Multiple mobile robots Nonlinear model predictive control (NMPC) Trajectory tracking
DOI10.1016/j.ifacol.2017.08.149
URLView the original
Language英語
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Cited Times [WOS]:2   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.Dalian Maritime University
2.Dalian University of Technology
3.Universidade de Macau
Recommended Citation
GB/T 7714
Xiao H.,Philip Chen C.L.,Li T.,et al. General Projection Neural Network Based Nonlinear Model Predictive Control for Multi-Robot Formation and Tracking[J]. IFAC-PapersOnLine,2017,50(1):838-843.
APA Xiao H.,Philip Chen C.L.,Li T.,&Han M..(2017).General Projection Neural Network Based Nonlinear Model Predictive Control for Multi-Robot Formation and Tracking.IFAC-PapersOnLine,50(1),838-843.
MLA Xiao H.,et al."General Projection Neural Network Based Nonlinear Model Predictive Control for Multi-Robot Formation and Tracking".IFAC-PapersOnLine 50.1(2017):838-843.
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