Predictive control for trajectory tracking and decentralized navigation of multi-agent formations

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.

[1]  Didier Maquin,et al.  Predictive control for trajectory tracking and decentralized navigation of multi-agent formations , 2013, Int. J. Appl. Math. Comput. Sci..

[2]  Pathway Toward a Mid-Infrared Interferometer for the Direct Characterization of Exoplanets , 2009, 0906.0068.

[3]  Richard M. Murray,et al.  Real Time Trajectory Generation for Differentially Flat Systems , 1996 .

[4]  J. Borges de Sousa,et al.  Coordinated control of agent formations in uncertain, dynamic environments , 2001, 2001 European Control Conference (ECC).

[5]  Daniel E. Koditschek,et al.  Exact robot navigation using artificial potential functions , 1992, IEEE Trans. Robotics Autom..

[6]  Jonathan P. How,et al.  Aircraft trajectory planning with collision avoidance using mixed integer linear programming , 2002, Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301).

[7]  Jean Lévine,et al.  A Flatness-Based Iterative Method for Reference Trajectory Generation in Constrained NMPC , 2009 .

[8]  George J. Pappas,et al.  Flocking in Fixed and Switching Networks , 2007, IEEE Transactions on Automatic Control.

[9]  Nathan van de Wouw,et al.  Comparison of overapproximation methods for stability analysis of networked control systems , 2010, HSCC '10.

[10]  Dariusz Pazderski,et al.  Trajectory tracking for a mobile robot with skid-slip compensation in the vector-field-orientation control system , 2009, Int. J. Appl. Math. Comput. Sci..

[11]  Ionela Prodan,et al.  On the hyperplanes arrangements in mixed-integer techniques , 2011, Proceedings of the 2011 American Control Conference.

[12]  R. Murray,et al.  Real‐time trajectory generation for differentially flat systems , 1998 .

[13]  Laurence A. Wolsey,et al.  Integer and Combinatorial Optimization , 1988 .

[14]  David Q. Mayne,et al.  Constrained model predictive control: Stability and optimality , 2000, Autom..

[15]  M. Fliess,et al.  Flatness and defect of non-linear systems: introductory theory and examples , 1995 .

[16]  Michel Verhaegen,et al.  NEW APPROACHES TO DISTRIBUTED CONTROL OF SATELLITE FORMATION FLYING , 2008 .

[17]  G. Ziegler.  Lectures on Polytopes , 1994 .

[18]  Ted K. Ralphs,et al.  Integer and Combinatorial Optimization , 2013 .

[19]  João Borges de Sousa,et al.  Predictive Control for Autonomous Aerial Vehicles Trajectory Tracking , 2013 .

[20]  Dirk Helbing,et al.  Simulating dynamical features of escape panic , 2000, Nature.

[21]  M MurrayRichard,et al.  Distributed receding horizon control for multi-vehicle formation stabilization , 2006 .

[22]  Ionela Prodan,et al.  Collision avoidance and path following for multi-agent dynamical systems , 2010, ICCAS 2010.

[23]  Franco Blanchini,et al.  Nonquadratic Lyapunov functions for robust control , 1995, Autom..

[24]  David S. Johnson,et al.  Computers and Intractability: A Guide to the Theory of NP-Completeness , 1978 .

[25]  J. Hellendoorn,et al.  A macroscopic traffic flow model for integrated control of freeway and urban traffic networks , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[26]  Hao Wu,et al.  Experiment and modeling of exit-selecting behaviors during a building evacuation , 2010 .

[27]  Graham C. Goodwin,et al.  Receding horizon control applied to optimal mine planning , 2006, Autom..

[28]  Nathan van de Wouw,et al.  On polytopic inclusions as a modeling framework for systems with time-varying delays , 2010, Autom..

[29]  Bart De Schutter,et al.  Distributed model predictive control of irrigation canals , 2009, Networks Heterog. Media.

[30]  B. De Schutter,et al.  Decentralized traffic control and management with intelligent vehicles , 2006 .

[31]  Ionela Prodan,et al.  Predictive control for tight group formation of Multi-Agent Systems , 2011 .

[32]  Fajar Suryawan,et al.  Methods for trajectory generation in a magnetic-levitation system under constraints , 2010, 18th Mediterranean Conference on Control and Automation, MED'10.

[33]  B. De Schutter,et al.  Predictive Control for National Water Flow Optimization in The Netherlands , 2010 .

[34]  Kostas J. Kyriakopoulos,et al.  Completely decentralised navigation of multiple unicycle agents with prioritisation and fault tolerance , 2010, 49th IEEE Conference on Decision and Control (CDC).

[35]  Jie Lin,et al.  Coordination of groups of mobile autonomous agents using nearest neighbor rules , 2003, IEEE Trans. Autom. Control..

[36]  Alberto Bemporad,et al.  Control of systems integrating logic, dynamics, and constraints , 1999, Autom..

[37]  M. Mesbahi,et al.  Formation flying control of multiple spacecraft via graphs, matrix inequalities, and switching , 1999, Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328).

[38]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Autonomous Robot Vehicles.

[39]  Alicja Mazur,et al.  On path following control of nonholonomic mobile manipulators , 2009, Int. J. Appl. Math. Comput. Sci..

[40]  Jan M. Maciejowski,et al.  Predictive control : with constraints , 2002 .

[41]  William B. Dunbar,et al.  Distributed receding horizon control for multi-vehicle formation stabilization , 2006, Autom..

[42]  Marko Bacic,et al.  Model predictive control , 2003 .