- Tytuł:
- Predictive control for trajectory tracking and decentralized navigation of multi-agent formations
- Autorzy:
-
Prodan, I.
Olaru, S.
Stoica, C.
Niculescu, S. I. - Powiązania:
- https://bibliotekanauki.pl/articles/330700.pdf
- Data publikacji:
- 2013
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
multi-agent system
linear system
model predictive control
potential function
polyhedral function
system wieloagentowy
system linearny
sterowanie predykcyjne
funkcja potencjału - Opis:
- 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.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2013, 23, 1; 91-102
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł