A Multilayer Graph for Multiagent Formation and Trajectory Tracking Control Based on MPC Algorithm

Zhenhua Pan, Zhongqi Sun, Hongbin Deng, Dongfang Li*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

43 Citations (Scopus)

Abstract

This article studies the formation and trajectory tracking control of multiagent systems. We present a novel multilayer graph for the multiagent system to enable extensibility of the interaction network. Based on the multilayer graph, a formation control law by using the potential function approach is developed for autonomous formation, formation maintenance, collision, and obstacle avoidance. When the desired formation is achieved, the barycentric of the formation shape is viewed as a virtual leader, and a model predictive control (MPC) scheme is applied to the virtual leader for tracking a reference trajectory; meanwhile, the agents will maintain the desired angles and distances via the formation control law. By applying the proposed schemes, the tasks of formation maintenance and trajectory tracking in a constrained space are fulfilled. Comprehensive simulation studies under different environmental constraints and trajectories confirm the effectiveness of the proposed approaches in addressing the formation and trajectory tracking problems.

Original languageEnglish
Pages (from-to)13586-13597
Number of pages12
JournalIEEE Transactions on Cybernetics
Volume52
Issue number12
DOIs
Publication statusPublished - 1 Dec 2022

Keywords

  • Formation control
  • model predictive control (MPC)
  • multilayer graph
  • potential function
  • trajectory tracking

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Pan, Z., Sun, Z., Deng, H., & Li, D. (2022). A Multilayer Graph for Multiagent Formation and Trajectory Tracking Control Based on MPC Algorithm. IEEE Transactions on Cybernetics, 52(12), 13586-13597. https://doi.org/10.1109/TCYB.2021.3119330