Distributed Model Predictive Cross-Dimensional Formation Control for Heterogeneous Multiagent Systems
In this paper, a distributed predefined-time model predictive formation control method is proposed for second-order multidimensional cross-dimensional heterogeneous multiagent systems (HMASs) with collision avoidance, switching topology and formation transformation. First, a distributed cross-dimens...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10945864/ |
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| Summary: | In this paper, a distributed predefined-time model predictive formation control method is proposed for second-order multidimensional cross-dimensional heterogeneous multiagent systems (HMASs) with collision avoidance, switching topology and formation transformation. First, a distributed cross-dimensional formation control protocol based on the full or partial information of neighboring agents is proposed for multidimensional heterogeneous multiagent systems. Second, a formation cooperative control approach that can quickly achieve the desired formation and formation transformation is designed by combining the predefined-time control strategy with the auxiliary control law of Lyapunov-based distributed model predictive control (DMPC). In addition, collision avoidance among agents can be achieved by adding a collision penalty mechanism to the cost function. Finally, an application to heterogeneous multiagent unmanned surface vehicle and unmanned underwater vehicle (USV-UUV) systems, through which the effectiveness of the proposed results has been demonstrated, and the simulation results are analyzed to evaluate the effectiveness and reliability of the proposed method. |
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| ISSN: | 2169-3536 |