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

Wei Shang, Hanzong Zhu, Yurong Pan, Xiuhong Li, Daode Zhang and Ya Jia

Discrete Dynamics in Nature and Society, 2021, vol. 2021, 1-22

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.

Date: 2021
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnddns:9923496

DOI: 10.1155/2021/9923496

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