Event-Triggered Multi-Mode MPC with Application to Modular Aerial Vehicles

Pedro Casau; Bruno Guerreiro

doi:10.23919/ACC55779.2023.10155794

Event-Triggered Multi-Mode MPC with Application to Modular Aerial Vehicles

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Our paper proposes a controller for global asymptotic stabilization of a nonlinear plant by combining multiple model-predictive controllers with event-triggered control. Given a collection of operating modes, the controller drives the state of the closed-loop system to a target operating mode using a sequence of optimal input trajectories. The computation of optimal trajectories takes place at events which are triggered either when the difference between the state of the closed-loop system and the optimal state trajectory exceeds a given threshold or when an internal timer expires. We demonstrate the proposed controller through simulations by applying it to the control of modular aerial vehicles.

Original language	English
Title of host publication	2023 American Control Conference (ACC)
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	1209-1214
Number of pages	6
ISBN (Electronic)	979-8-3503-2806-6
ISBN (Print)	978-1-6654-6952-4
DOIs	https://doi.org/10.23919/ACC55779.2023.10155794
Publication status	Published - 2023
Event	2023 American Control Conference, ACC 2023 - San Diego, United States Duration: 31 May 2023 → 2 Jun 2023

Publication series

Name	American Control Conference (ACC)
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Volume	2023-May
ISSN (Print)	0743-1619
ISSN (Electronic)	2378-5861

Conference

Conference	2023 American Control Conference, ACC 2023
Country/Territory	United States
City	San Diego
Period	31/05/23 → 2/06/23

Keywords

Hybrid Systems
Optimal Control
Sampled-data control

Access to Document

10.23919/ACC55779.2023.10155794

Cite this

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title = "Event-Triggered Multi-Mode MPC with Application to Modular Aerial Vehicles",

abstract = "Our paper proposes a controller for global asymptotic stabilization of a nonlinear plant by combining multiple model-predictive controllers with event-triggered control. Given a collection of operating modes, the controller drives the state of the closed-loop system to a target operating mode using a sequence of optimal input trajectories. The computation of optimal trajectories takes place at events which are triggered either when the difference between the state of the closed-loop system and the optimal state trajectory exceeds a given threshold or when an internal timer expires. We demonstrate the proposed controller through simulations by applying it to the control of modular aerial vehicles.",

keywords = "Hybrid Systems, Optimal Control, Sampled-data control",

author = "Pedro Casau and Bruno Guerreiro",

note = "info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F50009%2F2020/PT# info:eu-repo/grantAgreement/FCT/3599-PPCDT/PTDC%2FEEI-AUT%2F1732%2F2020/PT# info:eu-repo/grantAgreement/FCT/CEEC IND 2017/CEECIND%2F04652%2F2017%2FCP1461%2FCT0024/PT# Funding Information: P. Casau is with the Department of Electronics, Telecommunications and Informatics (DETI) at the University of Aveiro, Portugal (email: [email protected]). B. Guerreiro is with the NOVA School of Science and Technology (FCT-NOVA) and CTS/Uninova, Caparica, Portugal (email: [email protected]) P. Casau and B. Guerreiro are also with the Institute for Systems and Robotics (ISR/LARSyS), Lisbon, Portugal. Publisher Copyright: {\textcopyright} 2023 American Automatic Control Council.; 2023 American Control Conference, ACC 2023 ; Conference date: 31-05-2023 Through 02-06-2023",

year = "2023",

doi = "10.23919/ACC55779.2023.10155794",

language = "English",

isbn = "978-1-6654-6952-4",

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Casau, P & Guerreiro, B 2023, Event-Triggered Multi-Mode MPC with Application to Modular Aerial Vehicles. in 2023 American Control Conference (ACC). American Control Conference (ACC), vol. 2023-May, Institute of Electrical and Electronics Engineers (IEEE), pp. 1209-1214, 2023 American Control Conference, ACC 2023, San Diego, United States, 31/05/23. https://doi.org/10.23919/ACC55779.2023.10155794

Event-Triggered Multi-Mode MPC with Application to Modular Aerial Vehicles. / Casau, Pedro; Guerreiro, Bruno.
2023 American Control Conference (ACC). Institute of Electrical and Electronics Engineers (IEEE), 2023. p. 1209-1214 (American Control Conference (ACC); Vol. 2023-May).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - Our paper proposes a controller for global asymptotic stabilization of a nonlinear plant by combining multiple model-predictive controllers with event-triggered control. Given a collection of operating modes, the controller drives the state of the closed-loop system to a target operating mode using a sequence of optimal input trajectories. The computation of optimal trajectories takes place at events which are triggered either when the difference between the state of the closed-loop system and the optimal state trajectory exceeds a given threshold or when an internal timer expires. We demonstrate the proposed controller through simulations by applying it to the control of modular aerial vehicles.

AB - Our paper proposes a controller for global asymptotic stabilization of a nonlinear plant by combining multiple model-predictive controllers with event-triggered control. Given a collection of operating modes, the controller drives the state of the closed-loop system to a target operating mode using a sequence of optimal input trajectories. The computation of optimal trajectories takes place at events which are triggered either when the difference between the state of the closed-loop system and the optimal state trajectory exceeds a given threshold or when an internal timer expires. We demonstrate the proposed controller through simulations by applying it to the control of modular aerial vehicles.

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KW - Sampled-data control

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Y2 - 31 May 2023 through 2 June 2023

ER -

Event-Triggered Multi-Mode MPC with Application to Modular Aerial Vehicles

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Keywords

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