Model predictive control of directed‐graph constrained systems | Zendy

Kobayashi Koichi | Zendy; Imura Junichi | Zendy; Matsushima Hiromichi | Zendy

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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.

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