Consensus and rendezvous predictive control for multi-agent systems with input constraints

摘要：

　　The discrete-time double-integrator consensus and rendezvous problems are both addressed for distributed multi-agent systems with directed switching topologies and input constraints.We develop model predictive control algorithms to achieve stable consensus or rendezvous provided that the proximity nets always have a directed spanning tree and the sampling period is sufficiently small.Moreover,the control horizon is extended to larger than one as well,which endows sufficient degrees of freedom to facilitate controller design.Numerical simulations are finally conducted to show the effectiveness of the control algorithms.

关键词： Model predictive control (MPC) Multi-agent system (MAS) consensus switching topology input constraints

作者: Zhaomeng Cheng Hai-Tao Zhang Ming-Can Fan

作者单位: Key Laboratory of Image Processing and Intelligent Control,School of Automation,State Key Lab of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan 430074,P.R.China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 1438-1443

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）