2,312 publications from this institution
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 α-lattice flock avoiding inter-agent collision. Finally, numerical simulation is carried out to demonstrate the effectiveness of the proposed design.
This brief proposes a neuro-adaptive method for the unsolved problem of cooperative tracking rendezvous of nonholonomic mobile robots (NMRs) subject to uncertain and unmodelled dynamics. A hierarchical cooperative control framework is proposed, which consists of a novel distributed estimator along with local neuro-adaptive tracking controllers. Rigorous stability analysis as well as simulation experiments illustrate the proposed method.