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Get Free AccessThis paper develops a model predictive flocking control scheme for second-order multi-agent systems with input constraints. By penalizing both the control effort and the irregularity of the position distribution to a desired lattice formation, a decentralized controller is designed based only on neighboring measurements. Geometric properties of the optimal path are used to provide conditions guaranteeing convergence to a rigid α-lattice flock avoiding inter-agent collision. Finally, numerical simulation is carried out to demonstrate the effectiveness of the proposed design.
Hai‐Tao Zhang, Zhaomeng Cheng, Guanrong Chen, Chunguang Li (2015). Model predictive flocking control for second-order multi-agent systems with input constraints. IEEE Transactions on Circuits and Systems I Regular Papers, 62(6), pp. 1599-1606, DOI: 10.1109/tcsi.2015.2418871.
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Type
Article
Year
2015
Authors
4
Datasets
0
Total Files
0
Language
English
Journal
IEEE Transactions on Circuits and Systems I Regular Papers
DOI
10.1109/tcsi.2015.2418871
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