A Distributed Model Predictive Control for Multiple Mobile Robots with the Model Uncertainty
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 perf...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | Discrete Dynamics in Nature and Society |
| Online Access: | http://dx.doi.org/10.1155/2021/9923496 |
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| _version_ | 1849692501247524864 |
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| author | Wei Shang Hanzong Zhu Yurong Pan Xiuhong Li Daode Zhang |
| author_facet | Wei Shang Hanzong Zhu Yurong Pan Xiuhong Li Daode Zhang |
| author_sort | Wei Shang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-eab4adc995de4bfaa1e89149f4acef66 |
| institution | DOAJ |
| issn | 1026-0226 1607-887X |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Discrete Dynamics in Nature and Society |
| spelling | doaj-art-eab4adc995de4bfaa1e89149f4acef662025-08-20T03:20:40ZengWileyDiscrete Dynamics in Nature and Society1026-02261607-887X2021-01-01202110.1155/2021/99234969923496A Distributed Model Predictive Control for Multiple Mobile Robots with the Model UncertaintyWei Shang0Hanzong Zhu1Yurong Pan2Xiuhong Li3Daode Zhang4College of Engineering Machinery, Hubei University of Technology, Wuhan 430068, ChinaCollege of Engineering Machinery, Hubei University of Technology, Wuhan 430068, ChinaCollege of Engineering Machinery, Hubei University of Technology, Wuhan 430068, ChinaCollege of Engineering Machinery, Hubei University of Technology, Wuhan 430068, ChinaCollege of Engineering Machinery, Hubei University of Technology, Wuhan 430068, ChinaIn 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.http://dx.doi.org/10.1155/2021/9923496 |
| spellingShingle | Wei Shang Hanzong Zhu Yurong Pan Xiuhong Li Daode Zhang A Distributed Model Predictive Control for Multiple Mobile Robots with the Model Uncertainty Discrete Dynamics in Nature and Society |
| title | A Distributed Model Predictive Control for Multiple Mobile Robots with the Model Uncertainty |
| title_full | A Distributed Model Predictive Control for Multiple Mobile Robots with the Model Uncertainty |
| title_fullStr | A Distributed Model Predictive Control for Multiple Mobile Robots with the Model Uncertainty |
| title_full_unstemmed | A Distributed Model Predictive Control for Multiple Mobile Robots with the Model Uncertainty |
| title_short | A Distributed Model Predictive Control for Multiple Mobile Robots with the Model Uncertainty |
| title_sort | distributed model predictive control for multiple mobile robots with the model uncertainty |
| url | http://dx.doi.org/10.1155/2021/9923496 |
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