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

Ionela Prodan; Sorin Olaru; Cristina Stoica; Silviu-Iulian Niculescu

International Journal of Applied Mathematics and Computer Science (2013)

  • Volume: 23, Issue: 1, page 91-102
  • ISSN: 1641-876X

Abstract

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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.

How to cite

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Ionela Prodan, et al. "Predictive control for trajectory tracking and decentralized navigation of multi-agent formations." International Journal of Applied Mathematics and Computer Science 23.1 (2013): 91-102. <http://eudml.org/doc/251320>.

@article{IonelaProdan2013,
abstract = {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.},
author = {Ionela Prodan, Sorin Olaru, Cristina Stoica, Silviu-Iulian Niculescu},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {multi-agent systems; linear systems; model predictive control; potential function; polyhedral function},
language = {eng},
number = {1},
pages = {91-102},
title = {Predictive control for trajectory tracking and decentralized navigation of multi-agent formations},
url = {http://eudml.org/doc/251320},
volume = {23},
year = {2013},
}

TY - JOUR
AU - Ionela Prodan
AU - Sorin Olaru
AU - Cristina Stoica
AU - Silviu-Iulian Niculescu
TI - Predictive control for trajectory tracking and decentralized navigation of multi-agent formations
JO - International Journal of Applied Mathematics and Computer Science
PY - 2013
VL - 23
IS - 1
SP - 91
EP - 102
AB - 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.
LA - eng
KW - multi-agent systems; linear systems; model predictive control; potential function; polyhedral function
UR - http://eudml.org/doc/251320
ER -

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