Leader-follower synchronization for semi-autonomous excavation by model predictive control considering communication latency
Kota Morimoto, Masafumi OKADA · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2023
In the synchronous control of a leader-follower system, the difference of dynamic property between leader and follower and the communication latency will cause the unstable of the feedback system. This phenomenon can be explained as follow; the phase delay reduces the gain margin and makes the feedback system unstable. This can be overcome by lowering the feedback gain, however control performance is significantly degraded. In this study, we propose a synchronized control method for leader-follower systems applying model predictive control. Autonomous control systems are configured in the leader and follower to autonomously realize the reference motion, respectively. However, errors are caused due to disturbances and differences of dynamic property, which are suppressed by bilateral synchronous control. Considering the nonlinearity of the dynamical model, the model predictive control is accelerated by (1) obtaining a predicted future trajectory and (2) using a linearized model around it to find synchronization input. The effectiveness of the proposed method is evaluated by simple simulations.