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2013 | 23 | 1 | 91-102
Tytuł artykułu

Predictive control for trajectory tracking and decentralized navigation of multi-agent formations

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This paper addresses a predictive control strategy for a particular class of multi-agent formations with a time-varying topology. The goal is to guarantee tracking capabilities with respect to a reference trajectory which is pre-specified for an agent designed as the leader. Then, the remaining agents, designed as followers, track the position and orientation of the leader. In real-time, a predictive control strategy enhanced with the potential field methodology is used in order to derive a feedback control action based only on local information within the group of agents. The main concern is that the interconnections between the agents are time-varying, affecting the neighborhood around each agent. The proposed method exhibits effective performance validated through some illustrative examples.
Opis fizyczny
  • Automatic Control Department, SUPELEC Systems Sciences (E3S), 3 Joliot Curie, 91192, Gif sur Yvette, France
  • Laboratory of Signals and Systems, SUPELEC-CNRS, 3 Joliot Curie, 91192, Gif sur Yvette, France
  • Automatic Control Department, SUPELEC Systems Sciences (E3S), 3 Joliot Curie, 91192, Gif sur Yvette, France
  • Automatic Control Department, SUPELEC Systems Sciences (E3S), 3 Joliot Curie, 91192, Gif sur Yvette, France
  • Laboratory of Signals and Systems, SUPELEC-CNRS, 3 Joliot Curie, 91192, Gif sur Yvette, France
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