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题名: Model Predictive Control of Nonholonomic Chained Systems Using General Projection Neural Networks Optimization
作者: 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
刊名: IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
ISSN号: 2168-2216
出版日期: 2015
卷号: 45, 期号:10, 页码:1313-1321
收录类别: SCI ; EI
产权排序: 1
项目资助者: 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记录号: WOS:000361751100002
WOS标题词: Science & Technology ; Technology
类目[WOS]: Automation & Control Systems ; Computer Science, Cybernetics
关键词[WOS]: NONLINEAR CONTROL-SYSTEMS ; WHEELED MOBILE ROBOTS ; EXPONENTIAL STABILIZATION ; OUTPUT-FEEDBACK ; TRACKING ; TIME ; ALGORITHM
研究领域[WOS]: Automation & Control Systems ; Computer Science
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/17124
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
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.
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