Adaptive Distributed Observer-based Model Predictive Control for Multi-agent Formation with Resilience to Communication Link Faults
In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed in this paper. This design employs adaptive distributed observers in local control systems to estimate the leader's state, dynamics, and relative positioning with respect to the leader. Utilizing the estimated data as local references, the original formation tracking control problem can be decomposed into several fully localized tracking control problems, which can be efficiently solved by the local predictive controller. Through the incorporation of adaptive distributed observers, this proposed design not only enhances the resilience of distributed formation tracking against communication faults but also simplifies the distributed model predictive control formulation.
Code (0)
등록된 구현이 없습니다.
Tasks
Model Predictive ControlSimilar Papers 제목 키워드 기반
Output Based Adaptive Distributed Output Observer for Leader-follower Multiagent Systems
The adaptive distributed observer approach has been an effective tool for synthesizing a distributed control law for solving various control problems of leader-follower multiagent systems. However, the existing adaptive …
Adaptive Leader-Following Consensus for Multiple Euler-Lagrange Systems with an Uncertain Leader System
In this paper, we study the leader-following consensus problem of multiple Euler-Lagrange systems subject to an uncertain leader system. We first establish an adaptive distributed observer for a neutrally stable linear l…
Observer-based Adaptive Optimal Output Containment Control problem of Linear Heterogeneous Multi-agent Systems with Relative Output Measurements
This paper develops an optimal relative output-feedback based solution to the containment control problem of linear heterogeneous multi-agent systems. A distributed optimal control protocol is presented for the followers…
Reinforcement LearningHigh-Performance Distributed Control for Large-Scale Linear Systems: A Partitioned Distributed Observer Approach
In recent years, the distributed-observer-based distributed control law has shown powerful ability to arbitrarily approximate the centralized control performance. However, the traditional distributed observer requires ea…
LEMMACommunication-aware Multi-agent Systems Control Based on $k$-hop Distributed Observers
We propose a distributed control strategy to allow the control of a multi-agent system requiring k-hop interactions based on the design of distributed state and input observers. In particular, we design for each agent a …