A master thesis from Aalborg University
Tube-based NMPC for Non-Holonomic Multi-agent System in Unknown Environments: Prelude to Modern Control
[Tube-based NMPC for Non-Holonomic Multi-agent System in Unknown Environments]
Author(s)
Term
4. semester
Education
Publication year
2024
Submitted on
2024-05-31
Pages
45 pages
Abstract
This thesis addresses the problem of controlling a fleet of agents sub ject to disturbances and input/state constraints, with a focus on ensur ing robustness to these disturbances. The control problem is defined for a set of agents operating in a shared workspace, where each agent must fol low a desired trajectory while avoid ing collisions and maintaining net work connectivity. A decentralized tube based Nonlinear Model Predic tive Control is developed (NMPC) to meet these objectives. Experi mental results demonstrate that the NMPC approach effectively follows desired trajectories and mitigates dis turbances. The leader and follower agents maintain low distance and ori entation errors. The control strategy successfully avoids obstacles, prevents inter-agent collisions, and maintains communication constraints.
This thesis addresses the problem of controlling a fleet of agents sub ject to disturbances and input/state constraints, with a focus on ensur ing robustness to these disturbances. The control problem is defined for a set of agents operating in a shared workspace, where each agent must fol low a desired trajectory while avoid ing collisions and maintaining net work connectivity. A decentralized tube based Nonlinear Model Predic tive Control is developed (NMPC) to meet these objectives. Experi mental results demonstrate that the NMPC approach effectively follows desired trajectories and mitigates dis turbances. The leader and follower agents maintain low distance and ori entation errors. The control strategy successfully avoids obstacles, prevents inter-agent collisions, and maintains communication constraints.
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