Prodan, Ionela ; Olaru, Sorin ; Stoica, Cristina ; Niculescu, Silviu-Iulian
Korbicz, Józef - red. ; Uciński, Dariusz - red.
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.
Zielona Góra: Uniwersytet Zielonogórski
AMCS, volume 23, number 1 (2013) ; kliknij tutaj, żeby przejść
Biblioteka Uniwersytetu Zielonogórskiego
2024-04-11
2024-04-10
9
https://zbc.uz.zgora.pl/publication/88606
Nazwa wydania | Data |
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Predictive control for trajectory tracking and decentralized navigation of multi-agent formations | 2024-04-11 |
Skrzypczyński, Piotr Korbicz, Józef - red. Uciński, Dariusz - red.
Zhai, Guisheng Okuno, Shohei Imae, Joe Kobayashi, Tomoaki Zieliński, Cezary - ed.
Smołka, Maciej Schaefer, Robert Paszyński, Maciej Pardo, David Álvarez-Aramberri, Julen Byrski, Aleksander - ed. Kisiel-Dorohinicki, Marek - ed. Dobrowolski, Grzegorz - ed.
Ławryńczuk, Maciej Tatjewski, Piotr Korbicz, Józef - red. Uciński, Dariusz - red.
Ławryńczuk, Maciej Korbicz, Józef - ed.
Latawiec, Krzysztof J. Rojek, Ryszard Korbicz, Józef - red. Uciński, Dariusz - red.
Khadir, Mohamed Tarek Ringwood, John V. Kasiński, Andrzej - ed. Ponulak, Filip - ed.
Zerz, Eva Gałkowski, Krzysztof - ed. Rogers, Eric - ed. Willems, Jan