文章基本信息

标题：Path tracking and coordination control of multi-agent systems: a robust tube-based MPC scheme
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作者：Luigi D’Alfonso ; Giuseppe Fedele ; Giuseppe Franzè 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：6975-6980
DOI：10.1016/j.ifacol.2020.12.419
语种：English
出版社：Elsevier
摘要：AbstractThis paper addresses the reference tracking problem subject to formation constraints for a group of unmanned vehicles. A scheme based on receding horizon control ideas has been developed, whose the main feature consists in avoiding the need to explicitly impose non-convex constraints in the underlying optimization problem. The latter has been achieved by exploiting the properties provided by a novel description of the kinematic evolution when the agents are organized as a swarm. Numerical simulations on a team of five agents described by double integrator models are presented to show the effectiveness of the proposed control architecture.
关键词：KeywordsMulti-agent systemsReference trackingSwarm modelsModel Predictive Control