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distributed Lyapunov-based model predictive control for collision avoidance of multi-agent formation

IET control THEORY AND APPLICATIONS 2018年第18期12卷 2569-2577页

作者： Guo, Yaohua Zhou, Jun Liu, Yingying Northwestern Polytech Univ Sch Astronaut Xian Shaanxi Peoples R China

This study addresses the problem of distributed formation control for a multi-agent system with collision avoidance between agents and with obstacles, in the presence of various constraints. The authors proposed solution incorporates a control Lyapunov function (CLF) into a distributed model predictive control scheme, which inherits the strong stability property of the CLF and optimises the formation performance. For each agent, the formation tracking objective is formulated through the CLF, while the collision avoidance objective being explicitly considered as constraints. A relaxation parameter is introduced into the CLF condition to make the trade-off between the two conflicting objectives. The terminal constraint is constructed based on the concept of velocity obstacle, which characterises the set of states that lead to collisions. They show that the terminal constraint together with the relaxed CLF-based constraint guarantees the recursive feasibility and stability of the multi-agent system for almost any prediction horizon. Furthermore, the theoretical effectiveness and advantageous implementation properties are demonstrated through simulation for multi-agent formation control with several obstacles.

关键词： multi-robot systems distributed control stability Lyapunov methods mobile robots collision avoidance multi-agent systems predictive control closed loop systems multiagent system prediction horizon multiagent formation control obstacles distributed Lyapunov-based model predictive control distributed formation control control Lyapunov function distributed model predictive control scheme strong stability property formation performance formation tracking objective collision avoidance objective CLF condition conflicting objectives terminal constraint velocity obstacle relaxed CLF-based constraint

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distributed model predictive control of Freeway Traffic Networks: A Serial Partially Cooperative Approach 17

Distributed Model Predictive Control of Freeway Traffic Netw...

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IEEE 17th International Conference on Intelligent Transportation Systems (ITSC)

作者： Majid, Hirsh Hajiahmadi, Mohammad De Schutter, Bart Abouaissa, Hassane Jolly, Daniel Univ Sulaimani Dept Civil Engn Fac Engn Sci Sulaimani Iraq Delft Univ Technol Delft Ctr Syst & Control Delft Netherlands Univ Lille Nord France F-59000 Lille France U Artois LGI2A F-62400 Bethune France

ISBN: (纸本)9781479960781

In this paper, a new distributed model predictive control (MPC) scheme for freeway traffic control is proposed. It is aimed at reducing the communication efforts and the computation times in a large network. This new algorithm can coordinate a large number of on-ramps throughout a freeway network in a partially cooperative scheme. The communication is performed between neighboring on-ramps in a special serial fashion and with three different proposed cooperative schemes. The computation time is much less than that of existing distributed MPC approaches in the literature, while achieving a performance close to the one of the centralized MPC method. To evaluate the performance of the proposed partially cooperative schemes, a freeway network case study is selected and the problem of coordination between several on-ramps is solved using different methods from a centralized approach to a fully decentralized one. The obtained results show a significant decrease in the total computation time with respect to the centralized and fully cooperative schemes, while maintaining a close distance to the optimal objective function obtained from the centralized case. Furthermore, the performance of the proposed partially cooperative MPC method is evaluated in the case of incidents in the network.

关键词： distributed control predictive control road traffic control computation time distributed model predictive control scheme freeway network freeway traffic control neighboring on-ramps optimal objective function partially cooperative MPC method partially cooperative scheme Computational modeling Cost function Linear programming predictive control predictive models Traffic control

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Experimental results for distributed model predictive control applied to a water distribution system

Experimental results for distributed model predictive contro...

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IEEE International Symposium on Intelligent control (ISIC)

作者： Hentzelt, Sebastian Klingler, Andreas Graichen, Knut Univ Ulm Inst Measurement Control & Microtechnol D-89069 Ulm Germany

ISBN: (纸本)9781479974061

In this paper, experimental results are presented for a distributed model predictive control ( DMPC) scheme applied to a laboratory-scale water distribution system consisting of connected water tanks. The setup is an example of coupled dynamical systems whose modular structure makes them candidates for agent based distributed control methods. A set of low cost Raspberry Pi microcomputers connected via a common Ethernet-network is used for the implementation of the DMPC. The DMPC algorithm employs an augmented Lagrangian approach to solve the distributed optimal control problem (OCP) subject to nonlinear system dynamics in continuous-time form and input constraints. In this way, the performance and modular character of the DMPC as well as the individual runtime footprints of the communication and computation with respect to the overall runtime of the distributed algorithm are studied.

关键词： continuous time systems distributed algorithms distributed control local area networks microcomputers nonlinear dynamical systems optimal control predictive control tanks (containers) water supply DMPC algorithm Ethernet-network OCP augmented Lagrangian approach connected water tanks continuous-time form coupled dynamical systems distributed algorithm distributed model predictive control scheme distributed optimal control problem input constraints laboratory-scale water distribution system low cost Raspberry Pi microcomputers modular character modular structure nonlinear system dynamics Couplings Heuristic algorithms Optimization Storage tanks Topology Valves Water resources distributed model predictive control distributed algorithms MODULAR CONSTRUCTIONS Micro computer Continuous time systems Water distribution systems decentralised control Local Area Networks Open circuit potential Storage Tanks Nonlinear dynamical systems Heuristic algorithms predictive control VALVE GATE Dimyristoylphosphatidylcholine

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State Feedback control of Explicitly-Bounded Nonlinearly-Coupled Interconnected Systems 3

State Feedback Control of Explicitly-Bounded Nonlinearly-Cou...

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3rd International Conference on control, Automation and Information Sciences (ICCAIS)

作者： Tri Tran Nanyang Technol Univ Cambridge Ctr Adv Res Energy Efficiency Singapore Yunnan Garden Campus Singapore Singapore

ISBN: (纸本)9781479972043

The nominal linear subsystem state-space model having nonlinear couplings are used in this work. The quadratic dissipativity constraint approach, previously introduced and developed for the model predictive control of interconnected systems, is deployed herein with a static state-feedback strategy. We re-use the derivation for a quadratic bound on the nonlinear coupling in a newly derived stability condition for the decentralized excitation control of multiple-machine power systems. The state feedback gains are pre-computed from the LMI optimization problems formulated from this stability condition in combination with the open-loop dissipative condition for the global system and the closed-loop dissipative condition for subsystems. Inheriting the property of the non-monotonic decreasing Lyapunov function, the proposed decentralized static state-feedback approach is promising with non-conservative behaviours. The resulting static state-feedback gain can be used in the feedback policy for a distributed model predictive control scheme, when it is required to push the system towards tighter constraints for various economic objectives.

关键词： Lyapunov methods closed loop systems decentralised control distributed control interconnected systems linear matrix inequalities nonlinear control systems open loop systems power system control predictive control stability state feedback LMI optimization problems Lyapunov function closed-loop dissipative condition decentralized excitation control decentralized static state-feedback approach distributed model predictive control scheme explicitly-bounded nonlinearly-coupled interconnected systems model predictive control multiple-machine power systems nominal linear subsystem state-space model nonlinear couplings open-loop dissipative condition quadratic dissipativity constraint approach stability condition state feedback control state feedback gains static state-feedback strategy Closed loop systems Couplings Decentralized control Optimization Power system stability

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