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

• Autorzy: Ionela Prodan , Sorin Olaru , Cristina Stoica , Silviu-Iulian Niculescu
• 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.

Słowa kluczowe

EN

multi-agent systems; linear systems; model predictive control; potential function; polyhedral function

• Wydawca: University of Zielona Gora Press
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2013
• Tom: 23
• Numer: 1
• Strony: 91-102

Daty

wydano

2013

otrzymano

2011-10-30

poprawiono

2012-05-29

Twórcy

autor

Ionela Prodan

• 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

Sorin Olaru

• Automatic Control Department, SUPELEC Systems Sciences (E3S), 3 Joliot Curie, 91192, Gif sur Yvette, France

autor

Cristina Stoica

• Automatic Control Department, SUPELEC Systems Sciences (E3S), 3 Joliot Curie, 91192, Gif sur Yvette, France

autor

Silviu-Iulian Niculescu

• Laboratory of Signals and Systems, SUPELEC-CNRS, 3 Joliot Curie, 91192, Gif sur Yvette, France

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Identyfikatory

DOI

10.2478/amcs-2013-0008