Autor:
Prodan, Ionela ; Olaru, Sorin ; Stoica, Cristina ; Niculescu, Silviu-Iulian
Współtwórca:
Korbicz, Józef - red. ; Uciński, Dariusz - red.
Tytuł:
Predictive control for trajectory tracking and decentralized navigation of multi-agent formations
Tytuł publikacji grupowej:
Temat i słowa kluczowe:
multi-agent systems ; linear systems ; model predictive control ; potential function ; polyhedral function
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.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
Data wydania:
Typ zasobu:
DOI:
Strony:
Źródło:
AMCS, volume 23, number 1 (2013) ; kliknij tutaj, żeby przejść