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Related Experiment Video

Updated: Sep 11, 2025

Operation of the Collaborative Composite Manufacturing CCM System

Operation of the Collaborative Composite Manufacturing CCM System

Published on: October 1, 2019

Motion Planning and Tracking MPC for Multiagent Systems: A Dynamic Affine Formation Approach.

Zhixu Du, Hao Zhang, Zhuping Wang

IEEE Transactions on Cybernetics

|August 12, 2025

Summary

This study introduces online affine parameter adjustment for multiagent formations, enabling dynamic shape changes to avoid obstacles. The novel approach ensures stable and feasible control in complex environments.

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Area of Science:

Robotics and Control Systems
Multiagent Systems
Autonomous Navigation

Background:

Affine formation control offers flexible shape adjustment for complex terrains.
Existing methods require offline predesign of formation transformation parameters.
Online adjustment is needed for dynamic adaptation in variable environments.

Purpose of the Study:

To develop an online method for affine parameter adjustment in multiagent formations.
To enable self-reconfiguration of formations for obstacle avoidance.
To propose a distributed model predictive controller for enhanced performance and stability.

Main Methods:

Utilizing Artificial Potential Field (APF) environment excitation for online parameter adjustment.
Implementing a distributed model predictive controller (MPC) with historical control input utilization.
Separating stability and performance optimization within the nonlinear MPC framework.

Main Results:

Demonstrated dynamic adjustment of affine transformation parameters online.
Achieved self-reconfiguration of formation shape for collision avoidance.
Validated the effectiveness and stability of the proposed distributed MPC through simulations.

Conclusions:

The proposed online affine parameter adjustment method enables adaptive formations in complex environments.
The distributed MPC ensures robust control, stability, and performance for multiagent systems.
The approach effectively addresses limitations of offline parameter predesign in formation control.