P. Flüs and O. Stursberg, "Distributed MPC of Uncertain Multi-Agent Systems Considering Formations and Obstacles," Proc. of the 22nd IFAC World Congress, vol. 56, no. 2, pp. 10155-10161, 2023
Abstract
This paper proposes a method to control a class of multi-agent systems with uncertainties modeled as stochastic processes with arbitrary probability distributions. The considered control problem is to lead a formation of agents through a space which is partially obstructed by obstacles. The proposed solution is to use a hierarchically structured approach of distributed stochastic model predictive control (DSMPC). The approach combines elements of formation reference structures, leader-follower concepts, and successive convexification (SC) for collision avoidance. To consider the stochastic uncertainties, over-approximated probabilistic reachable sets (PRS) are computed based on Chebyshev's inequality. The nominal (expected) agent behavior is optimized within the DSMPC such that (probabilistic) constraints are satisfied in a distributed way. For the overall approach, closed-loop stability of the distributed control concept is investigated and an illustrating example is provided.
BibTex
@article{flus2023distributed,
abstract = {This paper proposes a method to control a class of multi-agent systems with uncertainties modeled as stochastic processes with arbitrary probability distributions. The considered control problem is to lead a formation of agents through a space which is partially obstructed by obstacles. The proposed solution is to use a hierarchically structured approach of distributed stochastic model predictive control (DSMPC). The approach combines elements of formation reference structures, leader-follower concepts, and successive convexification (SC) for collision avoidance. To consider the stochastic uncertainties, over-approximated probabilistic reachable sets (PRS) are computed based on Chebyshev's inequality. The nominal (expected) agent behavior is optimized within the DSMPC such that (probabilistic) constraints are satisfied in a distributed way. For the overall approach, closed-loop stability of the distributed control concept is investigated and an illustrating example is provided.},
author = {Flüs, P. and Stursberg, O.},
journal = {Proc. of the 22nd IFAC World Congress},
keywords = {isac-www},
number = {Issue 2},
pages = {10155-10161},
title = {Distributed MPC of Uncertain Multi-Agent Systems Considering Formations and Obstacles},
volume = {Volume 56},
year = 2023
}
DOI
doi.org/10.1016/j.ifacol.2023.10.890
URL