论文标题
多个水下车辆的实时分布式MPC，通信数据率有限
Real-time Distributed MPC for Multiple Underwater Vehicles with Limited Communication Data-rates
论文作者
论文摘要
由于代理之间的带宽较低，控制一支自动水下车队可能会具有挑战性。本文建议通过优化代理之间用于分布式算法的通信的量化设计来应对这一挑战。所提出的方法考虑了多AUV控制问题的两个阶段：优化量化设计的离线阶段；以及基于分布式模型预测控制公式和具有量化的分布式优化算法的在线阶段。分析了封闭环系统的递归可行性和稳定性的标准特性，并用于证明所提出方法的整体行为。
Controlling a fleet of autonomous underwater vehicles can be challenging due to low bandwidth communication between agents. This paper proposes to address this challenge by optimizing the quantization design of the communications between agents for use in distributed algorithms. The proposed approach considers two stages for the problem of multi-AUV control: an off-line stage where the quantization design is optimized; and an on-line stage based on a distributed model predictive control formulation and a distributed optimization algorithm with quantization. The standard properties of recursive feasibility and stability of the closed loop systems are analyzed, and simulations used to demonstrate the overall behaviour of the proposed approach.
