A Distributed Model Predictive Control for Multiple Mobile Robots with the Model Uncertainty

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

doi:10.1155/2021/9923496

Wei Shang, Hanzong Zhu + Show 3 more

Open Access

https://doi.org/10.1155/2021/9923496

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Abstract

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.

Highlights

In recent years, the robot formation control has become a key technology of multiple mobile robots’ research studies which can be used in the military field, production field, and service field [1,2,3,4]
There are lots of works focusing on overcoming the uncertainty problem of formation control of multiple mobile robots
Robust and adaptive control algorithms were used [21] for each agent to deal with the system uncertainty associated with leader input and follower agent dynamics

Summary

Introduction

The robot formation control has become a key technology of multiple mobile robots’ research studies which can be used in the military field, production field, and service field [1,2,3,4]. Comparing with the leader-follower method [5,6,7,8], behavior-based method [9,10,11],and virtual structure method [12, 13], the model predictive control (MPC) has attracted attention because of its ability of improving the robustness of the system and having better dynamic control performance in solving the problem of consensus protocol in distributed formation control of multiple mobile robots. In the study of MAVs [22], adaptive control algorithms were employed locally for each vehicle to solve the uncertainty associated with the system and flying environment These methods mentioned above have disposed of the uncertainty problem of the formation control with MPC, they are not combined with a distributed control.

Problem Formation

Controller Design and Stability Analysis

Stability Analysis

Results