کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
715453 892203 2010 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Fault tolerant decentralized nonlinear MPC for fleets of unmanned marine vehicles
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
Fault tolerant decentralized nonlinear MPC for fleets of unmanned marine vehicles
چکیده انگلیسی

A fleet of unmanned marine vehicles moving together in a prescribed pattern forms a robotic system for cooperative tasks. The problem is to control several marine vehicles such that, after transients, they form a required formation and move along a desired trajectory. The capability to accomplish the mission even in case of fault, is a fundamental requirement for these kind of vehicles. A completely decentralized nonlinear predictive control integrated with a fault tolerant strategy is here proposed for allowing safe cooperation. Based both on the local information and the acquired one through a LAN, each marine vehicle selects the desired formation to keep and plans its future actions. The proposed solution can be applied to different classes of unmanned marine vehicles.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC Proceedings Volumes - Volume 43, Issue 20, September 2010, Pages 348–353
نویسندگان
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