Reference : Implementation and validation of an event-based real-time nonlinear model predictive ...
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Aerospace & aeronautics engineering
Engineering, computing & technology : Computer science
Engineering, computing & technology : Multidisciplinary, general & others
Computational Sciences
http://hdl.handle.net/10993/32705
Implementation and validation of an event-based real-time nonlinear model predictive control framework with ROS interface for single and multi-robot systems
English
Dentler, Jan Eric mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) >]
Kannan, Somasundar [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Olivares Mendez, Miguel Angel mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Voos, Holger [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit > ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)]
30-Aug-2017
2017 IEEE Conference on Control Technology and Applications (CCTA)
1000-1006
Yes
No
International
2017 IEEE Conference on Control Technology and Applications (CCTA)
from 27.08.2017 to 30.08.2017
IEEE
Kohala Coast, Hawai'i, USA
USA
[en] Model Predictive Control ; Multi-agent systems ; Task-based control ; Real-time control ; UAV ; Multi-robot systems ; Optimal control
[en] This paper presents the implementation and experimental validation of a central control framework. The presented framework addresses the need for a controller, which provides high performance combined with a low-computational load while being on-line adaptable to changes in the control scenario. Examples for such scenarios are cooperative control, task-based control and fault-tolerant control, where the system's topology, dynamics, objectives and constraints are changing. The framework combines a fast Nonlinear Model Predictive Control (NMPC), a communication interface with the Robot Operating System (ROS) [1] as well as a modularization that allows an event-based change of the NMPC scenario. To experimentally validate performance and event-based adaptability of the framework, this paper is using a cooperative control scenario of Unmanned Aerial Vehicles (UAVs). The source code of the proposed framework is available under [2].
Interdisciplinary Centre for Security, Reliability and Trust (SnT) > Automation & Robotics Research Group
Fonds National de la Recherche - FnR
Researchers ; Students
http://hdl.handle.net/10993/32705
10.1109/CCTA.2017.8062590
http://ieeexplore.ieee.org.proxy.bnl.lu/document/8062590/
The original publication is available at www.ieee.org
1000-1006
FnR ; FNR9312118 > Jan Eric Dentler > FLYMAN > Controller Design For Cooperative Flying Manipulation Using Small Quadrotor Uavs > 15/11/2014 > 14/11/2017 > 2014

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