Cooperative distributed model predictive control for embedded systems: Experiments with hovercraft formations

Autor:	Stomberg, Gösta, Schwan, Roland, Grillo, Andrea, Jones, Colin N., Faulwasser, Timm
Rok vydání:	2024
Předmět:	Computer Science - Robotics Electrical Engineering and Systems Science - Systems and Control Mathematics - Optimization and Control
Druh dokumentu:	Working Paper
Popis:	This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each sampling step via a stabilizing decentralized real-time iteration scheme using the alternating direction method of multipliers. The efficient implementation does not require a central coordinator, executes onboard the hovercraft, and facilitates sampling intervals in the millisecond range. The formation control experiments showcase the flexibility of the approach on scenarios with point-to-point transitions, trajectory tracking, collision avoidance, and moving obstacles.
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2409.13334 Zobrazit plný text záznamu View this record from Arxiv