[Submitted on 10 Sep 2026]
Title:A Data-Driven Distributed Control Scheme: Learning Multi-Objective Agent-Based MPC for Path-Tracking
View a PDF of the paper titled A Data-Driven Distributed Control Scheme: Learning Multi-Objective Agent-Based MPC for Path-Tracking, by Jiaming Zhong and 3 other authors
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Abstract:Agent-based model predictive control (AMPC) has recently been proposed for vehicle systems with various controllers, such as differential braking and torque vectoring, where controllers are regarded as distributed agents contributing to the same objective. However, this scheme is challenging in handling multiple conflicting objectives with coupled agents. A common approach for such tasks is the integrated MPC, where all objectives and agents are stacked together in one optimization. Nevertheless, as more agents and objectives are involved, the integrated MPC will face challenges like computational burdens and maintenance difficulties in practice. To this end, this paper proposes a learning multi-objective AMPC that can improve design flexibility and computing efficiency. First, under the assumption of information exchange, a multi-objective AMPC tailored from the alternating direction method of multipliers (ADMM) is proposed to decouple the system and achieve the same performance as the integrated scheme iteratively. Second, a learning-based method for initializing iterations is proposed to accelerate convergence. In addition, a data management method is proposed for real-time efficiency, and an authentication module is designed for learning reliability. We compare the proposed scheme against the integrated scheme via a combined path-tracking simulation for autonomous vehicles with various controllers. The proposed scheme achieves the same control performance as the integrated one while reducing the computational time by 43.5%. Furthermore, the learning-based method saves 88.6% more computational time than without learning, making it suitable for real-time implementation.
Comments: 7 pages, 8 figures, 2 tables. Author accepted manuscript of a paper published in IEEE ITSC 2024
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2609.12142 [cs.RO]
(or arXiv:2609.12142v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.12142
arXiv-issued DOI via DataCite (pending registration)
Journal reference: 2024 IEEE 27th International Conference on Intelligent Transportation Systems (ITSC), Edmonton, AB, Canada, pp. 2999-3004, 2024
Related DOI:
https://doi.org/10.1109/ITSC58415.2024.10919711
DOI(s) linking to related resources
Submission history
From: Jiaming Zhong [view email] [v1] Thu, 10 Sep 2026 19:22:52 UTC (1,918 KB)
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