Quadratic Programming for Continuous Control of Safety-Critical Multi-Agent Systems Under Uncertainty Article Swipe

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Si Wu , Tengfei Liu , Magnus Egerstedt , Zhong‐Ping Jiang ·

YOU? · · 2022 · Open Access · · DOI: https://doi.org/10.48550/arxiv.2211.16720

This paper studies the control problem for safety-critical multi-agent systems based on quadratic programming (QP). Each controlled agent is modeled as a cascade connection of an integrator and an uncertain nonlinear actuation system. In particular, the integrator represents the position-velocity relation, and the actuation system describes the dynamic response of the actual velocity to the velocity reference signal. The notion of input-to-output stability (IOS) is employed to characterize the essential velocity-tracking capability of the actuation system. The uncertain actuation dynamics may cause infeasibility or discontinuous solutions of QP algorithms for collision avoidance. Also, the interaction between the controlled integrator and the uncertain actuation dynamics may lead to significant robustness issues. By using nonlinear control methods and numerical optimization methods, this paper first contributes a new feasible-set reshaping technique and a refined QP algorithm for feasibility, robustness, and local Lipschitz continuity. Then, we present a nonlinear small-gain analysis to handle the inherent interaction for guaranteed safety of the closed-loop multi-agent system. The proposed methods are illustrated by numerical simulations and a physical experiment.

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Control theory (sociology) Integrator Robustness (evolution) Quadratic programming Nonlinear system Lipschitz continuity Cascade Double integrator Quadratic equation Computer science Nonlinear programming Mathematical optimization Multi-agent system Mathematics Engineering Control (management) Computer network Artificial intelligence Bandwidth (computing) Biochemistry Mathematical analysis Geometry Gene Chemical engineering Physics Quantum mechanics Chemistry

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Type: preprint
Language: en
Landing Page: http://arxiv.org/abs/2211.16720
PDF: https://arxiv.org/pdf/2211.16720
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Cited By: 2
Related Works: 10
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DOI: https://doi.org/10.48550/arxiv.2211.16720

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Title: Quadratic Programming for Continuous Control of Safety-Critical Multi-Agent Systems Under Uncertainty

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Language: en

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Publication year: 2022

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Publication date: 2022-11-30

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Authors: Si Wu, Tengfei Liu, Magnus Egerstedt, Zhong‐Ping Jiang

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Landing page: https://arxiv.org/abs/2211.16720

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Concepts: Control theory (sociology), Integrator, Robustness (evolution), Quadratic programming, Nonlinear system, Lipschitz continuity, Cascade, Double integrator, Quadratic equation, Computer science, Nonlinear programming, Mathematical optimization, Multi-agent system, Mathematics, Engineering, Control (management), Computer network, Artificial intelligence, Bandwidth (computing), Biochemistry, Mathematical analysis, Geometry, Gene, Chemical engineering, Physics, Quantum mechanics, Chemistry

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Cited by: 2

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abstract_inverted_index.quadratic	12
abstract_inverted_index.reference	56
abstract_inverted_index.relation,	40
abstract_inverted_index.reshaping	126
abstract_inverted_index.solutions	85
abstract_inverted_index.stability	62
abstract_inverted_index.technique	127
abstract_inverted_index.uncertain	29, 77, 101
abstract_inverted_index.algorithms	88
abstract_inverted_index.avoidance.	91
abstract_inverted_index.capability	71
abstract_inverted_index.connection	23
abstract_inverted_index.controlled	16, 97
abstract_inverted_index.guaranteed	153
abstract_inverted_index.integrator	26, 36, 98
abstract_inverted_index.represents	37
abstract_inverted_index.robustness	108
abstract_inverted_index.small-gain	145
abstract_inverted_index.closed-loop	157
abstract_inverted_index.continuity.	139
abstract_inverted_index.contributes	122
abstract_inverted_index.experiment.	171
abstract_inverted_index.illustrated	164
abstract_inverted_index.interaction	94, 151
abstract_inverted_index.multi-agent	8, 158
abstract_inverted_index.particular,	34
abstract_inverted_index.programming	13
abstract_inverted_index.robustness,	135
abstract_inverted_index.significant	107
abstract_inverted_index.simulations	167
abstract_inverted_index.characterize	67
abstract_inverted_index.feasibility,	134
abstract_inverted_index.feasible-set	125
abstract_inverted_index.optimization	117
abstract_inverted_index.discontinuous	84
abstract_inverted_index.infeasibility	82
abstract_inverted_index.input-to-output	61
abstract_inverted_index.safety-critical	7
abstract_inverted_index.position-velocity	39
abstract_inverted_index.velocity-tracking	70
cited_by_percentile_year
countries_distinct_count	0
institutions_distinct_count	4
citation_normalized_percentile