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2013 | 23 | 1 | 91-102
Tytuł artykułu

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

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
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.
Rocznik
Tom
23
Numer
1
Strony
91-102
Opis fizyczny
Daty
wydano
2013
otrzymano
2011-10-30
poprawiono
2012-05-29
Twórcy
  • 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
autor
  • 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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Typ dokumentu
Bibliografia
Identyfikatory
Identyfikator YADDA
bwmeta1.element.bwnjournal-article-amcv23z1p91bwm
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