In this work, a robust decentralized model predictive control regime for a team of cooperating robot systems is designed. Their assumed dynamics are in continuous time and non-linear. The problem involves agents whose dynamics are independent of one-another, and its solution couples their constraints as a means of capturing the cooperative behaviour required. Analytical proofs are given to show that, under the proposed control regime: (a) Subject to initial feasibility, the optimization solved at each step by each agent will always be feasible, irrespective of whether or not disturbances affect the agents. In the former case, recursive feasibility is established through successive restriction of each agent's constraints during the periodic solution to its respective optimization problem. (b) Each (sub)system can be stabilized to a desired configuration, either asymptotically when uncertainty is absent, or within a neighbourhood of it, when uncertainty is present, thus attenuating the affecting disturbance. In this context, disturbances are assumed to be additive and bounded. Simulations verify the efficacy of the proposed method over a range of different operating environments. ; I detta arbete, en robust decentraliserad modell prediktiv kontroll regime förett lag av samverkande robotsystem är utformade. Deras antagnat dynamikär i kontinuerlig tid och olinjär. Problemet involverar agenter vars dynamik äroberoende av varandra, och sina lösning kopplar sina begränsningar som ettmedel för att fånga det kooperativa beteendet som krävs. Analytiska bevis gesför att visa att, enligt det föreslagna kontrollsystemet: (a) med förbehåll förförsta genomförbarhet, kommer optimeringen som löses vid varje steg av varjeagent alltid vara möjligt, oavsett huruvida störningar påverkar agenserna ellerinte. I det förre fallet är rekursiv genomförbarhet etablerad genom successivabegränsningar av varje agents inskränkning under den periodiska lösningentill dess respektive optimeringsproblem. (b) Varje (sub) system kan stabiliserastill ...
Robust Decentralized Control of Cooperative Multi-robot Systems : An inter-constraint Receding Horizon approach
2017-01-01
Hochschulschrift
Elektronische Ressource
Englisch
DDC: | 629 |
Cooperative driving and collision avoidance by distributed receding horizon control
Europäisches Patentamt | 2020
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