Alternating direction method of multipliers-based distributed control for distributed manipulation by shaping physical force fields

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00367513" target="_blank" >RIV/68407700:21230/23:00367513 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1177/02783649231153958" target="_blank" >https://doi.org/10.1177/02783649231153958</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1177/02783649231153958" target="_blank" >10.1177/02783649231153958</a>

Result language

angličtina

Original language name

Alternating direction method of multipliers-based distributed control for distributed manipulation by shaping physical force fields

Original language description

This paper proposes an algorithm for decomposing and possibly distributing an optimization problem that naturally emerges in distributed manipulation by shaping physical force fields through actuators distributed in space (arrays of actuators). One or several manipulated objects located in this field can "feel the force" and move simultaneously and independently. The control system has to produce commands for all actuators so that desired forces are developed at several prescribed places. This can be formulated as an optimization problem that has to be solved in every sampling period. Exploiting the structure of the optimization problem is crucial for platforms with many actuators and many manipulated objects, hence the goal of decomposing the huge optimization problem into several subproblems. Furthermore, if the platform is composed of interconnected actuator modules with computational capabilities, the decomposition can give guidance for the distribution of the computation to the modules. We propose an algorithm for decomposing/distributing the optimization problem using Alternating Direction Method of Multipliers (ADMM). The proposed algorithm is shown to converge to modest accuracy for various distributed platforms in a few iterations. We demonstrate our algorithm through numerical experiments corresponding to three physical experimental platforms for distributed manipulation using electric, magnetic, and pressure fields. Furthermore, we deploy and test it on real experimental platforms for distributed manipulation using an array of solenoids and ultrasonic transducers.

Czech name

—

Czech description

—

Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

20205 - Automation and control systems

Project

<a href="/en/project/GA19-18424S" target="_blank" >GA19-18424S: Distributed Control of Vehicle Formations and Networked Systems</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

International Journal of Robotics Research

ISSN

0278-3649

e-ISSN

1741-3176

Volume of the periodical

42

Issue of the periodical within the volume

1-2

Country of publishing house

GB - UNITED KINGDOM

Number of pages

18

Pages from-to

3-20

UT code for WoS article

000925219800001

EID of the result in the Scopus database

2-s2.0-85147515679