Distributed MPC for formation of multi-agent systems with collision avoidance and obstacle avoidance

DOI10.1016/j.jfranklin.2016.12.021zbMath1378.93009OpenAlexW2565972716MaRDI QIDQ1691202

Qun Cao, Yulong Gao, Yuanqing Xia, Li Dai

Publication date: 15 January 2018

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2016.12.021

zbMATH Keywords

Lyapunov equationcollision avoidancedistributed model predictive control (DMPC)obstacle avoidanceformation of multiple linear second-order agents

Mathematics Subject Classification ID

Related Items (22)

Collision-avoiding formation for multiple Euler-Lagrange systems against external disturbances and actuator faults ⋮ Convex MPC for exclusion constraints ⋮ Safe polyhedral tubes for locally convexified MPC ⋮ Finite-time formation tracking control with collision avoidance for quadrotor UAVs ⋮ Event‐triggered model predictive control for multi‐vehicle systems with collision avoidance and obstacle avoidance ⋮ A robust distributed receding horizon control synthesis approach for simultaneous tracking, regulation and formation of multiple perturbed wheeled vehicles with collision avoidance ⋮ Distributed RISE control for spacecraft formation reconfiguration with collision avoidance ⋮ Self-triggered MPC for trajectory tracking of unicycle-type robots with external disturbance ⋮ Bipartite Byzantine‐resilient event‐triggered consensus control of heterogeneous multi‐agent systems ⋮ Security-based dynamic output-feedback model predictive control for nonlinear systems in T-S fuzzy form subject to deception attacks ⋮ Nonlinear switched model predictive control with multiple Lyapunov functions for trajectory tracking and obstacle avoidance of nonholonomic systems ⋮ Distributed MPC-based adaptive control for linear systems with unknown parameters ⋮ Distributed consensus-based multi-agent convex optimization via gradient tracking technique ⋮ Resilient distributed MPC for systems under synchronous round-robin scheduling ⋮ Time-varying group formation tracking control for second-order multi-agent systems with communication delays and multiple leaders ⋮ Nash bargaining solution based rendezvous guidance of unmanned aerial vehicles ⋮ Leader-follower formation control of nonholonomic mobile robots with bearing-only measurements ⋮ Practical time-varying output formation tracking for high-order multi-agent systems with collision avoidance, obstacle dodging and connectivity maintenance ⋮ Motion information based avoidance control for 3-D multi-agent systems ⋮ Distributed robust MPC for nonholonomic robots with obstacle and collision avoidance ⋮ Primal-dual stochastic distributed algorithm for constrained convex optimization ⋮ Model predictive longitudinal control for autonomous electric vehicles with tracking differentiator

Uses Software

• ICLOCS

Cites Work

• Model approximation for two-dimensional Markovian jump systems with state-delays and imperfect mode information
• Distributed receding horizon control for multi-vehicle formation stabilization
• Decentralized receding horizon control for large scale dynamically decoupled systems
• Finite-time formation control for multi-agent systems
• Constrained model predictive control: Stability and optimality
• Model predictive control: recent developments and future promise
• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming
• Quantized ℋ∞ Filtering for Continuous-Time Markovian Jump Systems with Deficient Mode Information
• Distributed RHC for Tracking and Formation of Nonholonomic Multi-Vehicle Systems
• Distributed Model Predictive Control: An Overview and Roadmap of Future Research Opportunities
• Consensus and Cooperation in Networked Multi-Agent Systems
• A synthesis approach of distributed model predictive control for homogeneous multi-agent system with collision avoidance

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