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In this paper we develop a scenario-based Distributed Model Predictive Control (DMPC) approach for large-scale freeway networks. The uncertainties in a large-scale freeway network are categorized into global uncertainties for the overall network and local uncertainties for subnetworks. A reduced scenario tree is proposed, consisting of global scenarios and a reduced local scenario tree. For handling...
In this paper, we present the concept of a hierarchical predictive controller used for irrigation canals. The motivation behind this paper is the need in the field of irrigation to deliver water to farmers fast, but with minimal resources involved, as the communication links in the field are not dependable in practice. In response to such a control problem, we propose a hierarchical controller: the...
Robust control aims to maintain predefined performance specifications for a wide range of uncertainties. In this paper, we consider the robust control problem for freeway networks, including the uncertainties explicitly in the control design step. We use min-max scheme for handling the uncertainties occurring in freeway networks. In order to reduce the computational complexity of min-max scheme, we...
We study a control problem of delivering water to farmers through an irrigation canal and introduce a hierarchical controller with a Coordinator that by employing Model Predictive Control principles coordinates local canal reaches by modifying setpoints only when it is needed. Once the setpoints are set, the Coordinator does not interfere with the functioning of the local sites and the canal is fully...
In this paper we study the formation control problem for car-like robots which may be viewed as a more general type of robots than the usually considered unicycle type robots. We develop a controller using the backstepping approach and give conditions solving the formation control problem as well as the coordination control problem. We also present simulation results to demonstrate the applicability...
In this paper, we consider the problem of distributed formation control for a group of unicycle robots. We propose a control algorithm that solves the formation control problem in that it ensures that robots create a desired time-varying formation shape while the formation as a whole follows a prescribed trajectory. Moreover, we show that it is also possible to obtain coordination of robots in the...
This paper addresses the problem of formation control of groups of unicycle robots with possibly time-varying formation shapes. To solve the problem, we propose two simple distributed formation control algorithms based on the virtual structure approach. We prove exponential convergence of error variables to the origin and illustrate the behavior of a group of robots under the formation control algorithm...
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