Journal
IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS
Volume 10, Issue 2, Pages 706-717Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCNS.2022.3203928
Keywords
Collision-avoidance; decentralized robust control barrier function (CBF) condition; Gaussian process (GP); multirobot system
Ask authors/readers for more resources
Data-based machine learning methods have been used in control system design, but safety is a challenge due to uncertainties. This study proposes a barrier-function-based robust cooperative collision-avoidance control framework for heterogeneous multirobot systems. A new control barrier function design is proposed for less conservative feasible control actions. Decentralized robust conditions are derived, incorporating individual model uncertainty estimation to ensure safety. The proposed control framework is demonstrated effective through simulation examples.
Data-based machine learning methods have been successfully applied to control system design in recent years. However, safety during the learning and control process is difficult to guarantee due to the inherent uncertainties. In this work, we propose a barrier-function-based robust cooperative collision-avoidance control framework for heterogeneous multirobot systems with model learning. First, a new control barrier function (CBF) design is proposed for cooperative collision-avoidance, which leads to less conservativeness of the feasible control actions. Then, decentralized robust CBF conditions are derived, which incorporate the estimation of the individual model uncertainty using Gaussian process models such that each robot can guarantee safety with a high probability. Finally, a quadratic programming problem is formulated to obtain a controller that is minimally invasive to the nominal controller and satisfies the CBF and velocity constraints simultaneously. The decentralized implementation of the robust collision-avoidance control strategy is explicitly shown and proven. Two simulation examples are given to demonstrate the effectiveness of the proposed control framework.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available