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  • Hierarchical distributed receding horizon control for a group of agents

    Author(s)
    Lu, Q
    Han, QL
    Liu, S
    Griffith University Author(s)
    Han, Qing-Long
    Year published
    2015
    Metadata
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    Abstract
    This paper is concerned with a hierarchical distributed receding horizon control (HDRHC) approach, by which a global objective of locating the peaks of an unknown environment of interest can be achieved among locally communicating agents. The proposed HDRHC approach is executed by each agent independently and consists of two levels. In the first level, a radial basis function network is used to model the unknown environment of interest. On the basis of the established environment model, a dynamical optimization problem is formulated and solved by using a receding horizon control approach such that an ideal movement trajectory ...
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    This paper is concerned with a hierarchical distributed receding horizon control (HDRHC) approach, by which a global objective of locating the peaks of an unknown environment of interest can be achieved among locally communicating agents. The proposed HDRHC approach is executed by each agent independently and consists of two levels. In the first level, a radial basis function network is used to model the unknown environment of interest. On the basis of the established environment model, a dynamical optimization problem is formulated and solved by using a receding horizon control approach such that an ideal movement trajectory for each agent is generated. The agents can trace the peaks of the environment of interest by moving along the ideal movement trajectory; however, the collision among agents may occur. In the second level, a cooperative control optimization problem, whose aim is to avoid collision among agents, is designed. Hence, the real movement trajectory of each agent, which is produced by using the receding horizon control approach, not only should minimize the cooperative control optimization problem, but also should be close to the ideal movement trajectory. Finally, the effectiveness of the proposed HDRHC approach is illustrated for the gradient climbing problem.
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    Conference Title
    Chinese Control Conference, CCC
    Volume
    2015-September
    DOI
    https://doi.org/10.1109/ChiCC.2015.7260770
    Subject
    Applied mathematics not elsewhere classified
    Publication URI
    http://hdl.handle.net/10072/125334
    Collection
    • Conference outputs

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