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In this paper we revisit the contractive model predictive control framework and propose a new contractive constraint, which depending on selected candidate Lyapunov function and contracting factor can guarantee different types of system's stability. Simulation results are presented to illustrate the effect of the proposed contractive scheme.
In this paper we propose a decentralized control policy for coordinating a group of nonholonomic autonomous vehicles (non necessarily homogeneous) with input constraints moving in ??2, aiming to satisfy individual (trajectory tracking) and common objectives (guaranteed vehicles safety). The proposed policy models the discrete operation modes of each participating vehicle as a hybrid automaton, while...
The formulation and solution of a minimum time optimal control problem for a formation conformed by nonholonomic car-like mobile robots and a virtual leader reaching a target zone in an environment that includes dynamic and static obstacles with arbitrary shapes, is provided in this paper. The proposed approach for solving the formation to target zone minimum time problem, is formulated using receding...
This paper presents a new constructive model predictive control approach to asymptotic stabilization of constrained, discrete time-invariant nonlinear dynamic systems. The constructive approach not only considers the traditional optimality problem on a finite horizon, but also considers a feasibility constraint imposed at the end of each finite horizon (prediction horizon). The feasibility constraint...
This paper presents a trajectory tracking scheme with safe collision conflict resolution for the case of two aircraft at a fixed altitude. The proposed scheme allows each aircraft to optimize its discretized trajectory independently with the use of limited position information from the other aircraft over a receding time horizon. The aircraft objective function, to be minimized over each time horizon,...
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