Distributed Model Predictive Consensus of Constrained Heterogeneous Multiagent Systems

Huiyan Li

doi:10.1109/TSMC.2023.3241195

Distributed Model Predictive Consensus of Constrained Heterogeneous Multiagent Systems

2023-07-01

11

PRE

AI

DOI：10.1109/TSMC.2023.3241195

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Abstract

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In this article, the consensus of constrained linear heterogeneous multiagent systems under prediction and optimization is investigated. By optimizing the consensus problems constrained to state equations and general linear constraints, two types of distributed analytical model predictive controllers are proposed. Furthermore, stability conditions for the two types of controllers are derived, in which a relationship between the communication topology and dynamics of heterogeneous agents is clarified. Simulation examples of networked heterogeneous agents illustrate the convergence and validity of the proposed controllers.

Keywords:

Constrained optimization

distributed consensus

heterogeneous multiagent systems (HMASs)

model predictive control

Distributed Model Predictive Consensus of Constrained Heterogeneous Multiagent Systems

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