A distributed model predictive control for multiple mobile robots with the model uncertainty

DOI10.1155/2021/9923496MaRDI QIDQ2045345zbMATH OpenOpenAlexFDO

Authors Wei Shang, Hanzong Zhu, Yurong Pan, Xiuhong Li, Daode Zhang

Publication date 12 August 2021

Published in Discrete Dynamics in Nature and Society (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2021/9923496

Mathematics Subject Classification ID

Model predictive control (93B45) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: In this paper, a distributed predictive control with the model uncertainty which uses the data-driven strategy and robust theory (data-driven RDMPC) is proposed for the formation control of multiple mobile robots. The robust performance objective minimization is applied to replace the quadratic performance objective minimization to establish the optimization problem, where the model uncertainty is considered in the distributed system. The control policy is derived by applying the data-driven strategy, and the future predictive value is obtained by employing the linear law in the historical data. Lyapunov theory is referred to analyze the stability of the mobile robot formation system. The effectiveness of the proposed method is proved by a set of simulation experiments.

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Cites work

• An efficient cooperative-distributed model predictive controller with stability and feasibility guarantees for constrained linear systems
• Distributed Tracking Control of an Interconnected Leader–Follower Multiagent System

Cited in

(2)

• Formation control of mobile robot systems incorporating primal-dual neural network and distributed predictive approach
• Dynamic-priority-based DMPC with an occupancy grid for mobile systems

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