期刊
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS
卷 62, 期 6, 页码 1599-1606出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCSI.2015.2418871
关键词
Flocking; model predictive control; multi-agent system
资金
- National Natural Science Foundation of China (NNSFC) [61322304, 51328501, 51120155001, 61171153]
- Hong Kong Research Grants Council [CityU 11201414]
- Natural Science Foundation of Hubei Province [2012FFA009]
- Research Fund for the Doctoral Program of Higher Education of China [20130142110050]
- National Key Basic Research Program of China [2011CB013000]
- National Program for Special Support
This 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 alpha-lattice flock avoiding inter-agent collision. Finally, numerical simulation is carried out to demonstrate the effectiveness of the proposed design.
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