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Model predictive control of directed‐graph constrained systems
Author(s) -
Kobayashi Koichi,
Imura Junichi,
Matsushima Hiromichi
Publication year - 2013
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3078
Subject(s) - model predictive control , directed graph , graph , computer science , directed acyclic graph , mathematical optimization , state (computer science) , control (management) , algorithm , mathematics , theoretical computer science , artificial intelligence
SUMMARY This paper addresses a new type of model predictive control problem for a hybrid system that consists of a continuous‐time linear system and a temporal/spatial directed graph, called a directed‐graph constrained system. Motivated by the obstacle avoidance problem, the problem is newly formulated, where the continuous‐time control input and the waypoints of the state are simultaneously optimized under a temporal/spatial directed graph as well as input/state linear constraints, and a method for efficiently solving this problem is developed. Numerical examples are presented to verify that the proposed approach is effective. Copyright © 2013 John Wiley & Sons, Ltd.