Predictive Control for Trajectory Tracking and Decentralized Navigation of Multi-Agent Formations

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

Predictive Control for Trajectory Tracking and Decentralized Navigation of Multi-Agent Formations

Ionela Prodan ¹ Sorin Olaru ¹ Cristina Stoica ¹ Silviu-Iulian Niculescu ^{2, 3, 1}

1 E3S - Supélec Sciences des Systèmes [Gif-sur-Yvette]

2 DISCO - Dynamical Interconnected Systems in COmplex Environments

L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France, SUPELEC, CNRS - Centre National de la Recherche Scientifique : UMR8506

3 Division Systèmes - L2S

L2S - Laboratoire des signaux et systèmes : 1289

Abstract : This paper addresses a predictive control strategy for multi-agent formations with a time-varying topology. The goal is to guarantee a trajectory tracking, where a reference trajectory is specified for an agent designed as the leader. Then, a predictive control strategy combined with the Potential Field method is used in order to derive a 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.

Document type :

Conference papers

Domain :

Engineering Sciences [physics] / Automatic

Complete list of metadatas

https://hal-supelec.archives-ouvertes.fr/hal-00683940
Contributor : Josiane Dartron <>
Submitted on : Friday, March 30, 2012 - 11:30:15 AM
Last modification on : Tuesday, June 25, 2019 - 1:25:51 AM

Predictive Control for Trajectory Tracking and Decentralized Navigation of Multi-Agent Formations

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Predictive Control for Trajectory Tracking and Decentralized Navigation of Multi-Agent Formations

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