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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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10945864/ |
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| author | Haitao Liu Zhaoxin Li Qingqun Mai Haochun Liu Xuehong Tian |
| author_facet | Haitao Liu Zhaoxin Li Qingqun Mai Haochun Liu Xuehong Tian |
| author_sort | Haitao Liu |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-0ea63de4ba06444180247aa6166d0e9c |
| institution | OA Journals |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-0ea63de4ba06444180247aa6166d0e9c2025-08-20T02:26:27ZengIEEEIEEE Access2169-35362025-01-0113615496156310.1109/ACCESS.2025.355597610945864Distributed Model Predictive Cross-Dimensional Formation Control for Heterogeneous Multiagent SystemsHaitao Liu0https://orcid.org/0000-0003-0995-4655Zhaoxin Li1https://orcid.org/0009-0001-2243-9060Qingqun Mai2Haochun Liu3Xuehong Tian4https://orcid.org/0000-0001-6888-6635School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, ChinaSchool of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, ChinaSchool of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, ChinaSchool of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, ChinaSchool of Mechanical Engineering, Guangdong Ocean University, Zhanjiang, ChinaIn 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.https://ieeexplore.ieee.org/document/10945864/Heterogeneous multiagent systemsUSV-UUV systemsdistributed formation controltrajectory tracking controlmodel predictive control |
| spellingShingle | Haitao Liu Zhaoxin Li Qingqun Mai Haochun Liu Xuehong Tian Distributed Model Predictive Cross-Dimensional Formation Control for Heterogeneous Multiagent Systems IEEE Access Heterogeneous multiagent systems USV-UUV systems distributed formation control trajectory tracking control model predictive control |
| title | Distributed Model Predictive Cross-Dimensional Formation Control for Heterogeneous Multiagent Systems |
| title_full | Distributed Model Predictive Cross-Dimensional Formation Control for Heterogeneous Multiagent Systems |
| title_fullStr | Distributed Model Predictive Cross-Dimensional Formation Control for Heterogeneous Multiagent Systems |
| title_full_unstemmed | Distributed Model Predictive Cross-Dimensional Formation Control for Heterogeneous Multiagent Systems |
| title_short | Distributed Model Predictive Cross-Dimensional Formation Control for Heterogeneous Multiagent Systems |
| title_sort | distributed model predictive cross dimensional formation control for heterogeneous multiagent systems |
| topic | Heterogeneous multiagent systems USV-UUV systems distributed formation control trajectory tracking control model predictive control |
| url | https://ieeexplore.ieee.org/document/10945864/ |
| work_keys_str_mv | AT haitaoliu distributedmodelpredictivecrossdimensionalformationcontrolforheterogeneousmultiagentsystems AT zhaoxinli distributedmodelpredictivecrossdimensionalformationcontrolforheterogeneousmultiagentsystems AT qingqunmai distributedmodelpredictivecrossdimensionalformationcontrolforheterogeneousmultiagentsystems AT haochunliu distributedmodelpredictivecrossdimensionalformationcontrolforheterogeneousmultiagentsystems AT xuehongtian distributedmodelpredictivecrossdimensionalformationcontrolforheterogeneousmultiagentsystems |