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
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
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

Links full text

Identifiers

Citation

Ionela Prodan, Sorin Olaru, Cristina Stoica, Silviu-Iulian Niculescu. Predictive Control for Trajectory Tracking and Decentralized Navigation of Multi-Agent Formations. 4th International Conference on Agents and Artificial Intelligence (ICAART), Feb 2012, Vilamoura, Algarve, Portugal. pp.209-214, ⟨10.5220/0003749102090214⟩. ⟨hal-00683940⟩

Share

Metrics

Record views

466