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Decentralized tube-based model predictive control of uncertain nonlinear multiagent systems
KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-8696-1536
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-7309-8086
2019 (English)In: International Journal of Robust and Nonlinear Control, ISSN 1049-8923, E-ISSN 1099-1239, Vol. 29, no 10, p. 2799-2818Article in journal (Refereed) Published
Abstract [en]

This paper addresses the problem of decentralized tube-based nonlinear model predictive control (NMPC) for a general class of uncertain nonlinear continuous-time multiagent systems with additive and bounded disturbance. In particular, the problem of robust navigation of a multiagent system to predefined states of the workspace while using only local information is addressed under certain distance and control input constraints. We propose a decentralized feedback control protocol that consists of two terms: a nominal control input, which is computed online and is the outcome of a decentralized finite horizon optimal control problem that each agent solves at every sampling time, for its nominal system dynamics; and an additive state-feedback law which is computed offline and guarantees that the real trajectories of each agent will belong to a hypertube centered along the nominal trajectory, for all times. The volume of the hypertube depends on the upper bound of the disturbances as well as the bounds of the derivatives of the dynamics. In addition, by introducing certain distance constraints, the proposed scheme guarantees that the initially connected agents remain connected for all times. Under standard assumptions that arise in nominal NMPC schemes, controllability assumptions, communication capabilities between the agents, it is guaranteed that the multiagent system is input-to-state stable with respect to the disturbances, for all initial conditions satisfying the state constraints. Simulation results verify the correctness of the proposed framework.

Place, publisher, year, edition, pages
WILEY , 2019. Vol. 29, no 10, p. 2799-2818
Keywords [en]
connectivity maintenance, multiagent systems, nonlinear model predictive control (NMPC), robust control, tube-based MPC
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-271989DOI: 10.1002/rnc.4522ISI: 000470837300003Scopus ID: 2-s2.0-85062792654OAI: oai:DiVA.org:kth-271989DiVA, id: diva2:1423439
Note

QC 20200414

Available from: 2020-04-14 Created: 2020-04-14 Last updated: 2020-04-14Bibliographically approved

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Nikou, AlexandrosDimarogonas, Dimos V.

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Centre for Autonomous Systems, CASDecision and Control Systems (Automatic Control)ACCESS Linnaeus Centre
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