Cascade explicit tube model predictive controller:application for a multi-robot system
Ehsan Soleimani1
Amirhossein Nikoofard2
Erfan Nejabat3
1.Faculty of Electrical Engineering,Missouri University of Science and Technology,Rolla 65409,MO,USA2.Faculty of Electrical Engineering,K.N.Toosi University of Technology,Tehran,Iran3.Faculty of Mechanical Engineering,Shiraz University,Shiraz,Iran
摘要：In recent years,there has been a growing demand for more efficient and robust control strategies in cooperative multi-robot systems.This paper introduces the cascade explicit tube model predictive controller(CET-MPC),a control architecture designed specifically for distributed aerial robot systems.By integrating an explicit model predictive controller(MPC)with a tube MPC,our approach significantly reduces online computational demands while enhancing robustness against disturbances such as wind and measurement noise,as well as uncertainties in inertia parameters.Further,we incorporate a cascade controller to minimize steady-state errors and improve system performance dynamically.The results of this assessment provide valuable insights into the effectiveness and reliability of the CET-MPC approach under realistic operating conditions.The simulation results of flight scenarios for multi-agent quadrotors demonstrate the controller's stability and accurate tracking of the desired path.By addressing the complexities of quadrotors' six degrees of freedom,this controller serves as a versatile solution applicable to a wide range of multi-robot systems with varying degrees of freedom,demonstrating its adaptability and scalability beyond the quadrotor domain.
机标关键词：controllerapplicationcascadesystemmodelexplicitmulti-robotpredictive
论文发表日期：2025-05-30
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：16( 237-252 )
英文信息