Reference : A Modularization Approach for Nonlinear Model Predictive Control of Distributed Fast ...

	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Computer science
	Focus Areas :	Security, Reliability and Trust
	To cite this reference:	http://hdl.handle.net/10993/28066

Title :	A Modularization Approach for Nonlinear Model Predictive Control of Distributed Fast Systems
Language :	English
Author, co-author :	Dentler, Jan Eric [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 [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)]
Publication date :	22-Jun-2016
Main document title :	24th Mediterranean Conference on Control and Automation (MED), Athens, Greece, June 21-24, 2016
Pages :	292-297
Peer reviewed :	Yes
On invitation :	No
Audience :	International
Event name :	24th Mediterranean Conference on Control and Automation (MED)
Event date :	22-06-2016
Event place (city) :	Athens
Event country :	Greece
Keywords :	[en] Distributed systems ; Predictive control ; Robot swarms
Abstract :	[en] Distributed interconnected systems are omnipresent today. The development of advanced control methods for such systems are still challenging. Herein, the real-time applicability, flexibility, portability and ease of implementation are issues of the existing control solutions, especially for more advanced methods such as model predictive control. This paper is addressing these issues by presenting an efficient modular composition scheme for distributed fast nonlinear systems. The advantage of this modularization approach is the capability of changing control objectives, constraints, dynamics and system topology online while maintaining fast computation. This work analyzes the functions that have to be provided for a continuation generalized minimal residual method (CGMRES) model predictive controller based on the underlying control problem. The specific structure of these functions allows their decomposition into suitable fast modules. These modules are then used to recompose the functions which are required for the control of distributed systems in a computational efficient way, while maintaining the flexibility to dynamically exchange system parts. To validate this computational efficiency, the computation time of the proposed modular control approach is compared with a standard nonmodular implementation in a pursuit scenario of quadrotor unmanned aerial vehicles (UAV). Furthermore the real-time applicability is discussed for the given scenario.
Research centres :	SnT
Funders :	Fonds National de la Recherche - FnR
Name of the research project :	FNR FLYMAN
Target :	Researchers ; Professionals ; Students ; General public ; Others
Permalink :	http://hdl.handle.net/10993/28066
DOI :	10.1109/MED.2016.7535973
Other URL :	http://ieeexplore.ieee.org.proxy.bnl.lu/document/7535973/
FnR project :	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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