Work

Distributed Model Predictive Cross-Dimensional Formation Control for Heterogeneous Multiagent Systems

Year: 2025

Type: article

Abstract: 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.

Source: IEEE Access

DOI: 10.1109/access.2025.3555976

Authors: Haitao Liu, Zhaoxin Li, Qingqun Mai, Haochun Liu, Xuehong Tian

Institution: Guangdong Ocean University

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,075

Funders: National Natural Science Foundation of China, Science and Technology Planning Project of Guangdong Province, Basic and Applied Basic Research Foundation of Guangdong Province