This paper develops a model predictive flocking control scheme for second-order multi-agent systems with input constraints. By penalizing both the control effort and the irregularity of the position distribution to a desired lattice formation, a decentralized controller is designed based only on neighboring measurements. Geometric properties of the optimal path are used to provide conditions guaranteeing convergence to a rigid -lattice flock avoiding inter-agent collision. Finally, numerical simulation is carried out to demonstrate the effectiveness of the proposed design.Index Terms-Flocking, model predictive control, multi-agent system.

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1Published in "IEEE Circuits and Systems Magazine 6(3): 67 -85 , 2008" which should be cited to refer to this work.

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