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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/GA19-18424S" target="_blank" >GA19-18424S: Distribuované řízení formací vozidel a síťových systémů</a><br>

Návaznosti

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

Rok uplatnění

2023

Kód důvěrnosti údajů

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

Název periodika

International Journal of Robotics Research

ISSN

0278-3649

e-ISSN

1741-3176

Svazek periodika

42

Číslo periodika v rámci svazku

1-2

Stát vydavatele periodika

GB - Spojené království Velké Británie a Severního Irska

Počet stran výsledku

18

Strana od-do

3-20

Kód UT WoS článku

000925219800001

EID výsledku v databázi Scopus

2-s2.0-85147515679