PREDICTIVE CONTROL FOR TRAJECTORY TRACKING AND DECENTRALIZED NAVIGATION OF MULTI-AGENT FORMATIONS

被引：24

作者：

Prodan, Ionela ^{[1
,2
]}

Olaru, Sorin ^{[1
]}

Stoica, Cristina ^{[1
]}

Niculescu, Silviu-Iulian ^{[2
]}

机构：

[1] SUPELEC Syst Sci E3S, Dept Automat Control, F-91192 Gif Sur Yvette, France

[2] SUPELEC CNRS, Lab Signals & Syst, F-91192 Gif Sur Yvette, France

来源：

INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE | 2013年 / 23卷 / 01期

关键词：

multi-agent systems; linear systems; model predictive control; potential function; polyhedral function; RECEDING HORIZON CONTROL; GENERATION; SYSTEMS; FLATNESS; AGENTS; ROBOT;

D O I：

10.2478/amcs-2013-0008

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：91 / 102

页数：12

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