On Optimal Decentralized Control of Multi-agents Performing Cooperative Tasks

被引：0
|
作者：
Senda, Kei [1 ]
Satake, Ryoma [2 ]
机构：
[1] Kyoto Univ, Grad Sch Engn, Kyoto, Kyoto 6158105, Japan
[2] Kyoto Univ, Kyoto, Kyoto 6158105, Japan
来源：
IFAC PAPERSONLINE | 2023年 / 56卷 / 02期
关键词：
Decentralized control; Optimal control; Human-centric manufacturing; Cooperative; task; Control efforts of all agents;
D O I：
10.1016/j.ifacol.2023.10.280
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This study is concerned with optimal decentralized control of systems in which automated machines such as robots perform tasks cooperatively with humans, for HumanCentric Manufacturing. This paper especially discusses a design method of optimal controls for the decentralized control systems that perform cooperative tasks. Our method can design a quasi-optimal decentralized controller that considers the control efforts of all agents, whereas the existing methods could not take into account the control efforts of all agents appropriately. Finally, numerical simulations illustrate the effectiveness of our method. Copyright (c) 2023 The Authors.
引用
收藏
页码：9697 / 9702
页数：6
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