Nash-optimization distributed model predictive control for multi mobile robots formation

被引：11
|
作者：
Liu, Andong [1 ,2 ]
Zhang, Rongchao [1 ]
Zhang, Wen-an [1 ]
Teng, You [1 ]
机构：
[1] Zhejiang Univ Technol, Coll Informat Engn, Zhejiang Prov United Key Lab Embedded Syst, Hangzhou 310023, Zhejiang, Peoples R China
[2] City Univ Hong Kong, Dept Elect Engn, Kowloon Tong, Hong Kong, Peoples R China
来源：
PEER-TO-PEER NETWORKING AND APPLICATIONS | 2017年 / 10卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Distributed model predictive control; Multi mobile robots; Formation control; Nash-optimization; COOPERATIVE CONTROL; SCHEME;
D O I：
10.1007/s12083-016-0479-7
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 paper investigates the distributed model predictive control (DMPC) problem for multi mobile robots. The distributed system model is obtained by the kinematic model of single mobile robot. By including the coupling terms in the cost function, cooperation between subsystems can be incorporated in the distributed control problem. Then, each robot has its own optimal control problem, and neighboring subsystems can exchange information with one another by using wireless communication. The distributed model predictive control problem is formulated by the local cost function and solved by using Nash-optimization algorithm. The convergence condition of the proposed algorithm is presented. Finally, an illustrative example is given to demonstrate the effectiveness of the proposed method.
引用
收藏
页码：688 / 696
页数：9
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