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Model Predictive Control of Nonholonomic Chained Systems Using General Projection Neural Networks Optimization
Li ZJ(李智军); Xiao, Hanzhen; Yang CG(杨辰光); Zhao YW(赵忆文)
Department机器人学研究室
Source PublicationIEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
ISSN2168-2216
2015
Volume45Issue:10Pages:1313-1321
Indexed BySCI ; EI
EI Accession number20153901313775
WOS IDWOS:000361751100002
Contribution Rank1
Funding OrganizationNational Natural Science Foundation of China [61174045, 61025016, 61473120] ; Program for New Century Excellent Talents in University [NCET-12-0195] ; Ph.D. Programs Foundation of Ministry of Education of China [20130172110026] ; State Key Laboratory of Robotics and System [SKLRS-2014-MS-05] ; Foundation of State Key Laboratory of Robotics [2014-007] ; Guangzhou Research Collaborative Innovation Projects [1561000248]
KeywordGeneral Projection Neural Networks (Gpns) Model Predictive Control (Mpc) Nonholonomic Chained Systems Scaling Transformation
AbstractIn this paper, a class of nonholonomic chained systems is first converted into two subsystems, and then an explicit exponential decaying term is introduced into the input of the first subsystem to guarantee its controllability. After a state-scaling transformation, a model predictive control (MPC) scheme is proposed for the nonholonomic chained systems. The proposed MPC scheme employs a general projection neural network (GPN) to iteratively solve a quadratic programming (QP) problem over a finite receding horizon. The GPN employed in this paper is proved to be stable in the sense of Lyapunov, and its global convergence to the optimal solution is guaranteed for the reformulated QP. A simulation study is performed to show stable and convergent control performance under the proposed method, irrespective of whether the control input u(1) vanishes or not.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectAutomation & Control Systems ; Computer Science, Cybernetics
WOS KeywordNONLINEAR CONTROL-SYSTEMS ; WHEELED MOBILE ROBOTS ; EXPONENTIAL STABILIZATION ; OUTPUT-FEEDBACK ; TRACKING ; TIME ; ALGORITHM
WOS Research AreaAutomation & Control Systems ; Computer Science
Citation statistics
Cited Times:70[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/17124
Collection机器人学研究室
Corresponding AuthorLi ZJ(李智军)
Affiliation1.Key Laboratory of Autonomous System and Network Control, Ministry of Education and the College of Automation Science and Engineering, South China University of Technology, Guangzhou, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.Centre for Robotics and Neural System, Plymouth University, Plymouth, United Kingdom
Recommended Citation
GB/T 7714
Li ZJ,Xiao, Hanzhen,Yang CG,et al. Model Predictive Control of Nonholonomic Chained Systems Using General Projection Neural Networks Optimization[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2015,45(10):1313-1321.
APA Li ZJ,Xiao, Hanzhen,Yang CG,&Zhao YW.(2015).Model Predictive Control of Nonholonomic Chained Systems Using General Projection Neural Networks Optimization.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,45(10),1313-1321.
MLA Li ZJ,et al."Model Predictive Control of Nonholonomic Chained Systems Using General Projection Neural Networks Optimization".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 45.10(2015):1313-1321.
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