Contractive distributed MPC for consensus in networks of single- and double-integrators
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In this paper, we present a distributed control strategy, enabling agents to converge onto and travel along a consensually selected curve among a class of closed planar curves. Individual agents identify the number of neighbors within a finite circular sen ...
The paper considers the problem of detecting cyber-attacks occurring in communication networks for distributed control schemes. A distributed methodology is proposed to detect the presence of malicious attacks aimed at compromising the stability of large-s ...
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We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are commonly referred to as constrained output path-following problems. Specif ...
Institute of Electrical and Electronics Engineers2016
Soft constrained model predictive control (MPC) is frequently applied in practice in order to ensure feasibility of the optimization during online operation. Standard techniques offer global feasibility by relaxing state or output constraints, but cannot e ...
Institute of Electrical and Electronics Engineers2014
We introduce an event driven communication logic for decentralized control of a network of robotic vehicles (agents). The strategy proposed is robust to packet losses and drives the vehicles to predefined paths while holding a desired geometric formation p ...
Supply contracts are used to coordinate the activities of the supply chain partners. In many industries, service level-based supply contracts are commonly used. Under such a contract, a company agrees to achieve a certain service level and to pay a financi ...
This book bridges optimal control theory and economics, discussing ordinary differential equations, optimal control, game theory, and mechanism design in one volume. Technically rigorous and largely self-contained, it provides an introduction to the use of ...
Research on sub-optimal Model Predictive Control (MPC) has led to a variety of optimization methods based on explicit or online approaches, or combinations thereof. Its foremost aim is to guarantee essential controller properties, i.e. recursive feasibilit ...
A model predictive control law (MPC) is given by the solution to a parametric optimization problem that can be pre-computed offline, which provides an explicit map from state to input that can be rapidly evaluated online. However, the primary limitations o ...