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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)
作者部门机器人学研究室
关键词General Projection Neural Networks (Gpns) Model Predictive Control (Mpc) Nonholonomic Chained Systems Scaling Transformation
发表期刊IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
ISSN2168-2216
2015
卷号45期号:10页码:1313-1321
收录类别SCI ; EI
EI收录号20153901313775
WOS记录号WOS:000361751100002
产权排序1
资助机构National 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]
摘要In 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.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Automation & Control Systems ; Computer Science, Cybernetics
关键词[WOS]NONLINEAR CONTROL-SYSTEMS ; WHEELED MOBILE ROBOTS ; EXPONENTIAL STABILIZATION ; OUTPUT-FEEDBACK ; TRACKING ; TIME ; ALGORITHM
WOS研究方向Automation & Control Systems ; Computer Science
引用统计
被引频次:60[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/17124
专题机器人学研究室
通讯作者Li ZJ(李智军)
作者单位1.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
推荐引用方式
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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