Distributed model predictive control of multiple vehicles transporting a flexible payload

European Control Conference
Pages: 1417 - 1422
Published: Jun 12, 2018
Abstract
This paper presents a control strategy for multiple vehicles that cooperatively transport a flexible payload. To this end, an algorithm is developed which generates optimal trajectories for the vehicles to follow. Solving an optimization problem composes the core of the algorithm. The problem is first decomposed over the vehicles using the Alternating Direction Method of Multipliers (ADMM) algorithm. This results in each vehicle solving a...
Paper Details
Title
Distributed model predictive control of multiple vehicles transporting a flexible payload
Published Date
Jun 12, 2018
Journal
Pages
1417 - 1422
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