# 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

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topIonela 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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