Model predictive control of directed‐graph constrained systems |
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| Authors: | Koichi Kobayashi Jun‐ichi Imura Hiromichi Matsushima |
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| Affiliation: | 1. School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa 923‐1292, Japan;2. Graduate School of Information Science and Engineering, Tokyo Institute of Technology, Tokyo 152‐8552, Japan |
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| Abstract: | This paper addresses a new type of model predictive control problem for a hybrid system that consists of a continuous‐time linear system and a temporal/spatial directed graph, called a directed‐graph constrained system. Motivated by the obstacle avoidance problem, the problem is newly formulated, where the continuous‐time control input and the waypoints of the state are simultaneously optimized under a temporal/spatial directed graph as well as input/state linear constraints, and a method for efficiently solving this problem is developed. Numerical examples are presented to verify that the proposed approach is effective. Copyright © 2013 John Wiley & Sons, Ltd. |
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| Keywords: | directed graphs finite automata hybrid systems mixed logical dynamical systems model predictive control |
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