Cooperative distributed MPC via decentralized real-time optimization: Implementation results for robot formations

Publikationstyp
Journal Article
Publikationsdatum
2023-09-01
Sprache
English
Author
Stomberg, Gösta
Ebel, Henrik
Faulwasser, Timm 
Eberhard, Peter 
TORE-URI
https://hdl.handle.net/11420/45640
Enthalten in
Control engineering practice 
Volume
138
Article Number
105579
Citation
Control Engineering Practice 138: 105579 (2023-09)
Publisher DOI
10.1016/j.conengprac.2023.105579
Scopus ID
2-s2.0-85161897967
Publisher
Elsevier
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation results for realistic applications involving distributed computation and networked communication. This article approaches formation control of mobile robots via a cooperative DMPC scheme. We discuss the implementation via decentralized optimization algorithms. To this end, we combine the alternating direction method of multipliers with decentralized sequential quadratic programming to solve the underlying optimal control problem in a decentralized fashion with nominal convergence guarantees. Our approach only requires coupled subsystems to communicate and does not rely on a central coordinator. Our experimental results showcase the efficacy of DMPC for formation control and they demonstrate the real-time feasibility of the considered algorithms.
Schlagworte
Alternating direction method of multipliers
Decentralized optimization
Distributed model predictive control
Formation control
Hardware experiment
Mobile robots
DDC Class
530: Physics