{"title":"基于观测器的分布式非线性模型预测容错控制","authors":"Manh Tuyen Trinh, Van Tinh Nguyen","doi":"10.1109/ICSSE58758.2023.10227220","DOIUrl":null,"url":null,"abstract":"This paper presents an application of distributed nonlinear model predictive fault-tolerant controller (NMPFC) for leader- following formation tracking control in both free-fault and faulty case. The fault detection and diagnosis module integrated in each robot is based on an Extended Kalman filter (EKF) to estimate multiple faults occurring in that robot. The proposed solution is validated through simulation under Matlab-Simulink for mobile-robot systems.","PeriodicalId":280745,"journal":{"name":"2023 International Conference on System Science and Engineering (ICSSE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"An Observer-Based Distributed Nonlinear Model Predictive Fault-Tolerant Control for Leader-Following Formation Tracking Control\",\"authors\":\"Manh Tuyen Trinh, Van Tinh Nguyen\",\"doi\":\"10.1109/ICSSE58758.2023.10227220\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents an application of distributed nonlinear model predictive fault-tolerant controller (NMPFC) for leader- following formation tracking control in both free-fault and faulty case. The fault detection and diagnosis module integrated in each robot is based on an Extended Kalman filter (EKF) to estimate multiple faults occurring in that robot. The proposed solution is validated through simulation under Matlab-Simulink for mobile-robot systems.\",\"PeriodicalId\":280745,\"journal\":{\"name\":\"2023 International Conference on System Science and Engineering (ICSSE)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-07-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2023 International Conference on System Science and Engineering (ICSSE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICSSE58758.2023.10227220\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 International Conference on System Science and Engineering (ICSSE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSSE58758.2023.10227220","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
An Observer-Based Distributed Nonlinear Model Predictive Fault-Tolerant Control for Leader-Following Formation Tracking Control
This paper presents an application of distributed nonlinear model predictive fault-tolerant controller (NMPFC) for leader- following formation tracking control in both free-fault and faulty case. The fault detection and diagnosis module integrated in each robot is based on an Extended Kalman filter (EKF) to estimate multiple faults occurring in that robot. The proposed solution is validated through simulation under Matlab-Simulink for mobile-robot systems.
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