Centralized, Decentralized and Distributed Nonlinear Model Predictive Control of a Tractor-Trailer System: A Comparative Study

Erkan Kayacan; Joshua M. Peschel; Erdal Kayacan

doi:10.1109/ACC.2016.7525615

Centralized, Decentralized and Distributed Nonlinear Model Predictive Control of a Tractor-Trailer System: A Comparative Study

Erkan Kayacan, Joshua M. Peschel, Erdal Kayacan

Research output: Contribution to book/anthology/report/proceeding › Article in proceedings › Research › peer-review

17 Citations (Scopus)

Abstract

This paper presents centralized, decentralized and distributed nonlinear model predictive controllers design for a tractor-trailer system. Several comparisons are made in terms of their performances and computation time. The experimental results show that the centralized nonlinear model predictive controller has ability to let a tractor-trailer system follow trajectories with the lowest tracking error, while the decentralized one has the lowest computation time.

Original language	English
Title of host publication	2016 American Control Conference, ACC 2016
Number of pages	6
Publisher	IEEE
Publication date	28 Jul 2016
Pages	4403-4408
Article number	7525615
ISBN (Electronic)	2378-5861
DOIs	https://doi.org/10.1109/ACC.2016.7525615
Publication status	Published - 28 Jul 2016
Externally published	Yes
Event	American Control Conference (ACC), 2016 - Boston Marriott Copley Place, Boston , United States Duration: 6 Jul 2016 → 8 Jul 2016 http://acc2016.a2c2.org/

Conference

Conference	American Control Conference (ACC), 2016
Location	Boston Marriott Copley Place
Country/Territory	United States
City	Boston
Period	06/07/2016 → 08/07/2016
Internet address	http://acc2016.a2c2.org/

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10.1109/ACC.2016.7525615

https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7525615

Cite this

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title = "Centralized, Decentralized and Distributed Nonlinear Model Predictive Control of a Tractor-Trailer System: A Comparative Study",

abstract = "This paper presents centralized, decentralized and distributed nonlinear model predictive controllers design for a tractor-trailer system. Several comparisons are made in terms of their performances and computation time. The experimental results show that the centralized nonlinear model predictive controller has ability to let a tractor-trailer system follow trajectories with the lowest tracking error, while the decentralized one has the lowest computation time.",

author = "Erkan Kayacan and {M. Peschel}, Joshua and Erdal Kayacan",

year = "2016",

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day = "28",

doi = "10.1109/ACC.2016.7525615",

language = "English",

pages = "4403--4408",

booktitle = "2016 American Control Conference, ACC 2016",

publisher = "IEEE",

note = " American Control Conference (ACC), 2016 ; Conference date: 06-07-2016 Through 08-07-2016",

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Kayacan, E, M. Peschel, J & Kayacan, E 2016, Centralized, Decentralized and Distributed Nonlinear Model Predictive Control of a Tractor-Trailer System: A Comparative Study. in 2016 American Control Conference, ACC 2016., 7525615, IEEE, pp. 4403-4408, American Control Conference (ACC), 2016, Boston , Massachusetts, United States, 06/07/2016. https://doi.org/10.1109/ACC.2016.7525615

Centralized, Decentralized and Distributed Nonlinear Model Predictive Control of a Tractor-Trailer System: A Comparative Study. / Kayacan, Erkan; M. Peschel, Joshua; Kayacan, Erdal.
2016 American Control Conference, ACC 2016. IEEE, 2016. p. 4403-4408 7525615.

Research output: Contribution to book/anthology/report/proceeding › Article in proceedings › Research › peer-review

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AU - M. Peschel, Joshua

AU - Kayacan, Erdal

PY - 2016/7/28

Y1 - 2016/7/28

N2 - This paper presents centralized, decentralized and distributed nonlinear model predictive controllers design for a tractor-trailer system. Several comparisons are made in terms of their performances and computation time. The experimental results show that the centralized nonlinear model predictive controller has ability to let a tractor-trailer system follow trajectories with the lowest tracking error, while the decentralized one has the lowest computation time.

AB - This paper presents centralized, decentralized and distributed nonlinear model predictive controllers design for a tractor-trailer system. Several comparisons are made in terms of their performances and computation time. The experimental results show that the centralized nonlinear model predictive controller has ability to let a tractor-trailer system follow trajectories with the lowest tracking error, while the decentralized one has the lowest computation time.

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DO - 10.1109/ACC.2016.7525615

M3 - Article in proceedings

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PB - IEEE

T2 - American Control Conference (ACC), 2016

Y2 - 6 July 2016 through 8 July 2016

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Centralized, Decentralized and Distributed Nonlinear Model Predictive Control of a Tractor-Trailer System: A Comparative Study

Abstract

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