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Ehsan Soleimani1, Amirhossein Nikoofard2, Erfan Nejabat3.[en_title][J].Control Theory and Technology,2025,23(2):237~252.[Copy]
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Cascade explicit tube model predictive controller: application for a multi-robot system
EhsanSoleimani1,AmirhosseinNikoofard2,ErfanNejabat3
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(1 Faculty of Electrical Engineering, Missouri University of Science and Technology, Rolla, 65409, MO, USA;2 Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran;3 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.
关键词:  Explicit model predictive control (MPC) · Tube MPC · Cascade controller · Quadrotor · Multi-agent system · Distributed formation control
DOI:https://doi.org/10.1007/s11768-025-00244-y
基金项目:
Cascade explicit tube model predictive controller: application for a multi-robot system
Ehsan Soleimani1,Amirhossein Nikoofard2,Erfan Nejabat3
(Faculty of Electrical Engineering, Missouri University of Science and Technology, Rolla, 65409, MO, USA;2 Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran;3 Faculty of Mechanical Engineering, Shiraz University, Shiraz, Iran)
Abstract:
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.
Key words:  Explicit model predictive control (MPC) · Tube MPC · Cascade controller · Quadrotor · Multi-agent system · Distributed formation control