:

1389


Agent

.


Autonomy


.


Multi-agent Systems


Cooperation

(1
.
(2

Distribution
:


.

10

11

DMPC vs. CMPC

12

Optimal Decentralized Control

Optimal control problem
subject to
decentralized information structure constraints

13

Optimal Decentralized Controllers

14

MPC

15






.

) ( Formation
.
16

17

18

19


.


.

20

21


.1
.
.2
.
.3

.
22

 /


.

:
23

.
24

 /

. .

.
.

25




). (

26

27

) (

28


Coalition


.




.
29

 Flocking behavior

30

.

.
:

 Coverage Control
:


:

31

 Consensus

32

RHC
Why RHC?
- Generality: generic state & control cons.
- Reconfigurability: redefine functions & cons. To
reflect changes

Why not RHC?

- Computational demand
- Theoretical Conservation: proofs of stability
33

RHC

:
.
scalable

.
RHC :
.
34

 RHC



.


.
35


.

.

.


.
36


} i {1,..., N a

2n

zi (t ) (qi (t ), q&i (t ))
n

ui (t )

&
&q
i (t ) ui (t ), i 1,..., N a

37

ui (t ) U, zi (t ) Z , t 0



Na
c
c
c

)Z

Na

z ( z 1 ,..., z

38

RHC

q& u

q q d

L( z , u ) ( i , j )E qi q j d ij
0

, ,
2

39

q qd Tracking

qd (q q 2 q 3 ) / 3
c

c
1

q (q1 q2 q3 ) / 3

RHC

2
c 2

L( z , u ) z z u
Q

.
.

.
40

centralized open-loop optimal

control problem
J * ( z (t ), T ) min

t T

u ()

L( z ( ), u ( ))d G( z (t T )),
t

subject to
Na
Na
&
&
q( s ) u ( s ), u ( s ) U , z ( s ) Z , s [t , t T ],
z (t T ; z (t )) ( ),

whereG ( z ) z z
( ) : {z

2 nN a

c 2
P

, P P T 0and

: G ( z ) , 0}

41

RHC

t0

( ), t0

*
cent

&
&q
( ) u

( ; z (t )), [t , t ], 0 T
42

*
cent

( ) u

*
cent

RHC

.
G

43

Decoupled integrated Cost

44

RHC

.
i
.

45

 RHC

46

 RHC

47

Local compatibility constraint

.
Degree of consistency between what a
vehicle plans to do and what neighbors
believe that vehicle will plan to do
.
48

Controller

49



Optimal Cost Function as Lyapunov function

Terminal Constraints
Terminal inequality constraint
Terminal cost function

50

Dual-Mode RHC
Robustness to model uncertainty in the
presence of generic state constraints by
making the constraints more conservative.

51

Centralized

52

Distributed

53

54

:



.


1. Distributed Receding Horizon Control of Multi-agent Systems, William B.
Dunbar, California Institute of Technology Pasadena, California, 2004
2. Receding Horizon Control of Multi-Vehicle Formations: A Distributed
Implementation, William B. Dunbar, Richard M. Murray, Control and Dynamical
Systems 107-81, California Institute of Technology, Pasadena, CA 91125, 2004
IEEE CONFERENCE ON DECISION AND CONTROL
3. Distributed Model Predictive Control By Eduardo Camponogara, Dong Jia,
Bruce H. Krogh, and Sarosh Talukdar, Department of Electrical and Computer
Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, U.S.A, IEEE
Control Systems Magazine
.4

.1389

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56

57