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

Ionela Prodan;  Sorin Olaru;  Cristina Stoica;  Silviu-Iulian Niculescu — 2013

International Journal of Applied Mathematics and Computer Science

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...

Robust MPC for actuator-fault tolerance using set-based passive fault detection and active fault isolation

Feng Xu;  Vicenç Puig;  Carlos Ocampo-Martinez;  Sorin Olaru;  Silviu-Iulian Niculescu — 2017

International Journal of Applied Mathematics and Computer Science

In this paper, a fault-tolerant control (FTC) scheme is proposed for actuator faults, which is built upon tube-based model predictive control (MPC) as well as set-based fault detection and isolation (FDI). In the class of MPC techniques, tubebased MPC can effectively deal with system constraints and uncertainties with relatively low computational complexity compared with other robust MPC techniques such as min-max MPC. Set-based FDI, generally considering the worst case of uncertainties, can robustly...

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