Decentralised and Cooperative Control of Multi-Robot Systems through Distributed Optimisation

Autor:	Dong, Yi, Li, Zhongguo, Zhao, Xingyu, Ding, Zhengtao, Huang, Xiaowei
Rok vydání:	2023
Předmět:	Electrical Engineering and Systems Science - Systems and Control Computer Science - Distributed Parallel and Cluster Computing
Druh dokumentu:	Working Paper
Popis:	Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear dynamics. The algorithm is based on distributed cooperative optimisation and output regulation, and it achieves global optimum by utilising only information shared among neighbouring robots. Technically, a high-level distributed optimisation algorithm for multi-robot systems is presented, which will serve as an optimal reference generator for each individual agent. Then, based on the distributed optimisation algorithm, an output regulation method is utilised to solve the optimal coordination problem for general linear dynamic systems. The convergence of the proposed algorithm is theoretically proved. Both numerical simulations and real-time physical robot experiments are conducted to validate the effectiveness of the proposed cooperative control algorithms. Comment: Accepted by AAMAS'23
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2302.01728 Zobrazit plný text záznamu View this record from Arxiv