<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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.</p></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.

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

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

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...

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

Publié en ligne: 26 mars 2013

Pages: 91 - 102

DOI: https://doi.org/10.2478/amcs-2013-0008

This content is open access.