TY - GEN
T1 - An Observer-Based Distributed MPC Approach for Formation Tracking of Heterogeneous Linear Multi-Agent Systems
AU - Hong, Keben
AU - Feng, Zhi
AU - Wang, Qing
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - This paper proposes an observer-based distributed model predictive control (DMPC) framework of heterogeneous linear multi-agent systems (MAS). The main objective is to develop an adaptive observer-based DMPC algorithm based on neighboring information to achieve asymptotically time-vary formation tracking. Specifically, an adaptive distributed observer is first designed in order to estimate and reconstruct the state of target for each agent. Then, based on this estimated information, a DMPC algorithm is proposed to optimize the input of each agent. Finally, the effectiveness of the algorithm is validated by simulation.
AB - This paper proposes an observer-based distributed model predictive control (DMPC) framework of heterogeneous linear multi-agent systems (MAS). The main objective is to develop an adaptive observer-based DMPC algorithm based on neighboring information to achieve asymptotically time-vary formation tracking. Specifically, an adaptive distributed observer is first designed in order to estimate and reconstruct the state of target for each agent. Then, based on this estimated information, a DMPC algorithm is proposed to optimize the input of each agent. Finally, the effectiveness of the algorithm is validated by simulation.
KW - adaptive distributed observer
KW - distributed model predictive control
KW - formation tracking control
KW - heterogeneous system
UR - https://www.scopus.com/pages/publications/105031897056
U2 - 10.1109/ICUS66297.2025.11294856
DO - 10.1109/ICUS66297.2025.11294856
M3 - 会议稿件
AN - SCOPUS:105031897056
T3 - Proceedings of 2025 IEEE International Conference on Unmanned Systems, ICUS 2025
SP - 2026
EP - 2031
BT - Proceedings of 2025 IEEE International Conference on Unmanned Systems, ICUS 2025
A2 - Song, Rong
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2025 IEEE International Conference on Unmanned Systems, ICUS 2025
Y2 - 18 September 2025 through 19 September 2025
ER -