Distributed Model Predictive Control For Consensus Of Multi-Agent Systems

Recently,the consensus of Multi-agent systems(MASs)has attracted a lot of attention due to its potential impacts on many fields such as flocking/swarming,sensor network,collaborative robots,underwater vehicles,unmanned aerial vehicles(UAVs),formation control and congestion control in communication networks.However,designing a distributed model predictive control(MPC)strategy with practical constraints and optimal energy for consensus of MASs is still a challengeable work.Our research mainly focuses on designing associated distributed MPC strategies for consensus of MASs.This article first proposes a distributed model predictive control(MPC)strategy to achieve consensus of sampled-data multi-agent systems with double-integrator dynamics.On the basis of the error of state between each agent and the centre of its subsystem,a novel distributed MPC strategy is obtained with the exchange of current states only.Then,a reverse iterative algorithm is specially designed for the receding horizon optimisation of sampled-data double-integrator dynamics.Illustrative examples are finally displayed to verify the effectiveness and advantage of the distributed MPC consensus strategy and the impact of sampling period on consensus.In order to generalize the achievements from MASs with double-integrator dynamics into general linear systems,we decide to design a distributed MPC strategy to achieve cooperative tasks of linear systems.Different from most previous work focuses that an a priori known set point needs to be stabilized,we propose a novel distributed MPC for the cooperative behaviors like consensus and synchronization of linear systems with coupled constraints.Besides,we guarantee the robust feasibility of the distributed MPC algorithm by permitting only one subsystem to optimize at each time instant while renewing the plans of other subsystems.Illustrative examples are finally conducted to verify the effectiveness of the distributed MPC strategy.Finally,for the flocking of MASs with double-integrator dynamics,three tentative algorithms are presented to formulate the lattice structure of flocking.