Zhu, Edward L. and Stürz, Yvonne R. and Rosolia, Ugo and Borrelli, Francesco (2020) Trajectory Optimization for Nonlinear Multi-Agent Systems using Decentralized Learning Model Predictive Control. In: 2020 59th IEEE Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 6198-6203. ISBN 9781728174471. https://resolver.caltech.edu/CaltechAUTHORS:20210121-152557974
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Abstract
We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task iteratively, data from previous task executions is used to construct and improve local time-varying safe sets and an approximate value function. These are used in a decoupled MPC problem as terminal sets and terminal cost functions. Our framework results in a decentralized controller, which requires no communication between agents over each iteration of task execution, and guarantees persistent feasibility, finite-time closed-loop convergence, and non-decreasing performance of the global system over task iterations. Numerical experiments of a multi-vehicle collision avoidance scenario demonstrate the effectiveness of the proposed scheme.
| Item Type: | Book Section | |||||||||
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| Additional Information: | © 2020 IEEE. This project has received funding from the European Union’s Horizon 2020 research and innovation programme under the Marie Sklodowska-Curie grant agreement No. 846421. This work was partially funded by the grant ONR-N00014-18-1-2833. | |||||||||
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| DOI: | 10.1109/cdc42340.2020.9303903 | |||||||||
| Record Number: | CaltechAUTHORS:20210121-152557974 | |||||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20210121-152557974 | |||||||||
| Official Citation: | E. L. Zhu, Y. R. Stürz, U. Rosolia and F. Borrelli, "Trajectory Optimization for Nonlinear Multi-Agent Systems using Decentralized Learning Model Predictive Control," 2020 59th IEEE Conference on Decision and Control (CDC), Jeju Island, Korea (South), 2020, pp. 6198-6203, doi: 10.1109/CDC42340.2020.9303903 | |||||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | |||||||||
| ID Code: | 107642 | |||||||||
| Collection: | CaltechAUTHORS | |||||||||
| Deposited By: | George Porter | |||||||||
| Deposited On: | 22 Jan 2021 15:07 | |||||||||
| Last Modified: | 16 Nov 2021 19:04 |
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