Pełnotekstowe zasoby PLDML oraz innych baz dziedzinowych są już dostępne w nowej Bibliotece Nauki.
Zapraszamy na https://bibliotekanauki.pl

PL EN


Preferencje help
Widoczny [Schowaj] Abstrakt
Liczba wyników
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

Bibliografia

  • Baskar, L., De Schutter, B. and Hellendoorn, H. (2006). Decentralized traffic control and management with intelligent vehicles, Proceedings of the 9th TRAIL Congress, Delft, The Netherlands, (CD-ROM).
  • Bemporad, A. and Morari, M. (1999). Control of systems integrating logic, dynamics, and constraints, Automatica 35(3): 407-427.
  • Blanchini, F. (1995). Nonquadratic Lyapunov functions for robust control, Automatica 31(3): 451-461.
  • Camacho, E. and Bordons, C. (2004). Model Predictive Control, Springer-Verlag, London.
  • De Doná, J., Suryawan, F., Seron, M. and Lévine, J. (2009). A flatness-based iterative method for reference trajectory generation in constrained NMPC, in L. Magni, D.M. Raimondo and F. Allgöwer (Eds.), Nonlinear Model Predictive Control, Springer-Verlag, pp. 325-333.
  • Dunbar, W. and Murray, R. (2006). Distributed receding horizon control for multi-vehicle formation stabilization, Automatica 42(4): 549-558.
  • Fang, Z., Song, W., Zhang, J. and Wu, H. (2010). Experiment and modeling of exit-selecting behaviors during a building evacuation, Statistical Mechanics and Its Applications 389(4): 815-824.
  • Fliess, M., Lévine, J., Martin, P. and Rouchon, P. (1995). Flatness and defect of non-linear systems: Introductory theory and examples, International Journal of Control 61(6): 1327-1361.
  • Garey, M. and Johnson, D. (1979). Computers and Intractability. A Guide to the Theory of NP-completeness, WH Freeman and Company, San Francisco, CA.
  • Gielen, R., Olaru, S., Lazar, M., Heemels, W., Van de Wouw, N. and Niculescu, S. (2010). On polytopic inclusions as a modeling framework for systems with time-varying delays, Automatica 46(3): 615-619.
  • Girard, A., de Sousa, J. and Hedrick, J. (2001). Coordinated control of agent formations in uncertain, dynamic environments, Proceedings of the European Control Conference, Porto, Portugal, pp. 121-127.
  • Goodwin, G., Seron, M., Middleton, R., Zhang, M., Hennessy, B., Stone, P. and Menabde, M. (2006). Receding horizon control applied to optimal mine planning, Automatica 42(8): 1337-1342.
  • Heemels, W., Van De Wouw, N., Gielen, R., Donkers, M., Hetel, L., Olaru, S., Lazar, M., Daafouz, J. and Niculescu, S. (2010). Comparison of overapproximation methods for stability analysis of networked control systems, Proceedings of the 13th ACM International Conference on Hybrid Systems: Computation and Control, Stockholm, Sweden, pp. 181-190.
  • Helbing, D., Farkas, I. and Vicsek, T. (2000). Simulating dynamical features of escape panic, Nature 407(6803): 487-490.
  • Jadbabaie, A., Lin, J. and Morse, A. (2003). Coordination of groups of mobile autonomous agents using nearest neighbor rules, IEEE Transactions on Automatic Control 48(6): 988-1001.
  • Khatib, O. (1986). Real-time obstacle avoidance for manipulators and mobile robots, International Journal of Robotics Research 5(1): 90.
  • Maciejowski, J. (2002). Predictive Control with Constraints, Pearson Education, Harlow.
  • Massion, I., Keviczky, T. and Verhaegen, M. (2008). New approaches to distributed control of satellite formation flying, Proceedings of the 3rd International Symposium on Formation Flying, Missions and Technologies, Noordwijk, The Netherlands, pp. 22-27.
  • Mayne, D., Rawlings, J., Rao, C. and Scokaert, P. O. (2000). Constrained model predictive control: Stability and optimality, Automatica 36(6): 789-814.
  • Mazur, A. and Szakiel, D. (2009). On path following control of nonholonomic mobile manipulators, International Journal of Applied Mathematics and Computer Science 19(4): 561-574, DOI: 10.2478/v10006-009-0044-0.
  • Mesbahi, M. and Hadaegh, F. (2001). Formation flying control of multiple spacecraft via graphs, matrix inequalities, and switching, Journal of Guidance, Control, and Dynamics 24(2): 369-377.
  • Michałek, M., Dutkiewicz, P., Kiełczewski, M. and Pazderski, D. (2009). Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system, International Journal of Applied Mathematics and Computer Science 19(4): 547-559, DOI: 10.2478/v10006-009-0043-1.
  • Negenborn, R., van Overloop, P., Keviczky, T. and De Schutter, B. (2009). Distributed model predictive control of irrigation canals, Networks and Heterogeneous Media 4(2): 359-380.
  • Osiadacz, A., Nemhauser, G.L. and Wolsey, L.A. (1990). Integer and combinatorial optimization, International Journal of Adaptive Control and Signal Processing 4(4): 333-334.
  • Overloop, P., Negenborn, R., Schutter, B. and Giesen, N. (2010). Predictive control for national water flow optimization in the Netherlands, in R.R. Negenborn, Z. Lukszo and H. Hellendoorn (Eds.), Intelligent Infrastructures, Springer, pp. 439-461.
  • Prodan, I., Bencatel, R., Olaru, S., Sousa, J., Stoica, C. and Niculescu, S. (2012). Predictive control for autonomous aerial vehicles trajectory tracking, Proceedings of the Nonlinear Model Predictive Control Conference, Noordwijkerhout, The Netherlands, pp. 508-513.
  • Prodan, I., Olaru, S., Stoica, C. and Niculescu, S. (2010). Collision avoidance and path following for multi-agent dynamical systems, 2010 International Conference on Control Automation and Systems (ICCAS), Gyeonggi-do, Seoul, Korea, pp. 1930-1935.
  • Prodan, I., Olaru, S., Stoica, C. and Niculescu, S.-I. (2011). Predictive control for tight group formation of multi-agent systems, Proceedings of the 18th IFAC World Congress, Milano, Italy, pp. 138-143.
  • Richards, A. and How, J. (2002). Aircraft trajectory planning with collision avoidance using mixed integer linear programming, Proceedings of the 21st American Control Conference, Anchorage, AL, USA, pp. 1936-1941.
  • Rimon, E. and Koditschek, D. (1992). Exact robot navigation using artificial potential functions, IEEE Transactions on Robotics and Automation 8(5): 501-518.
  • Rossiter, J. (2003). Model-Based Predictive Control: A Practical Approach, CRC Press, Boca Raton, FL.
  • Roussos, G. and Kyriakopoulos, K. (2010). Completely decentralised navigation of multiple unicycle agents with prioritization and fault tolerance, Proceedings of the 49th IEEE Conference on Decision and Control, Atlanta, GA, USA, pp. 1372-1377.
  • Stoican, F., Prodan, I. and Olaru, S. (2011). On the hyperplanes arrangements in mixed-integer techniques, Proceedings of the 30th American Control Conference, San Francisco, CA, USA, pp. 1898-1903.
  • Suryawan, F., De Dona, J. and Seron, M. (2010). Methods for trajectory generation in a magnetic-levitation system under constraints, 18th Mediterranean Conference on Control and Automation, Marrakech, Morocco, pp. 945-950.
  • Tanner, H., Jadbabaie, A. and Pappas, G. (2007). Flocking in fixed and switching networks, IEEE Transactions on Automatic Control 52(5): 863-868.
  • Van den Berg, M., Hegyi, A., De Schutter, B. and Hellendoorn, J. (2004). A macroscopic traffic flow model for integrated control of freeway and urban traffic networks, Proceedings of the 43rd IEEE Conference on Decision and Control, Atlantis, Paradise Island, The Bahamas, Vol. 3, pp. 2774-2779.
  • Van Nieuwstadt, M. and Murray, R. (1998). Real-time trajectory generation for differentially flat systems, International Journal of Robust and Nonlinear Control 8(11): 995-1020.
  • Ziegler, G.M. (1995). Lectures on Polytopes, Springer-Verlag, New York, NY.

Typ dokumentu

Bibliografia

Identyfikatory

Identyfikator YADDA

bwmeta1.element.bwnjournal-article-amcv23z1p91bwm
JavaScript jest wyłączony w Twojej przeglądarce internetowej. Włącz go, a następnie odśwież stronę, aby móc w pełni z niej korzystać.