Consensus for First- and Second-Order Discrete-Time Multi-agent Systems with Delays Based on Model Predictive Control Schemes

Zhong, Zichun; Sun, Lining; Wang, Jingcheng; Lv, Penghong; Zheng, Hongjing

doi:10.1007/s00034-014-9850-1

Cited by 16 publications

(3 citation statements)

References 20 publications

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“…However, there are very few works that address the MPC approach to solve the consensus problem of MAS in the presence of time delay. Zhon et al (2015) considered the first- and second-order MAS with state delay and adopted the concept of the enlarged agents to solve the MPC consensus problem for time-delay MAS. Actually, in this method, new agents were added to the communication graph to model the time delay.…”

Section: Introductionmentioning

confidence: 99%

Robust model predictive control of heterogeneous time-delay multi-agent systems with polytopic uncertainties and input amplitude constraints

Rahimi

Binazadeh

2020

Journal of Vibration and Control

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This article studies the robust model predictive control of heterogeneous multi-agent systems with polytopic uncertainties and time delay. Moreover, some constraints on the amplitude of the control inputs are considered for each agent. The proposed distributed controllers are designed as state feedback. The goal is to design the feedback gains such that the multiagent system achieves consensus in the presence of time-delay and model uncertainties. For this purpose, an optimization problem is proposed, and by using the constrained robust model predictive control and the appropriate Lyapunov–Krasovskii functional, sufficient conditions are obtained to solve the optimization problem through solving the linear matrix inequalities. In this regard, a theorem is presented, and it is proved that the consensus errors converge to zero. Finally, the effectiveness of the proposed method is illustrated using numerical simulations.

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Section: Introductionmentioning

confidence: 99%

Robust model predictive control of heterogeneous time-delay multi-agent systems with polytopic uncertainties and input amplitude constraints

Rahimi

Binazadeh

2020

Journal of Vibration and Control

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“…Very few researchers have been using the MPC method to solve the consensus problem for time-delay MASs. Zhong et al (2015) considered the time-delay MASs with first- and second-order linear agents. Moreover, the Lyapunov-based Model Predictive Control (LMPC) has been developed for linear time-delay MASs by Rahimi and Binazadeh (2021), while the value of delay was assumed to be known.…”

Section: Introductionmentioning

confidence: 99%

Robust H∞ output consensus of heterogeneous nonlinear multi-agent systems with external disturbance and unknown time-delay based on distributed Lyapunov-based MPC

Rahimi

Binazadeh

2023

Journal of Vibration and Control

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This paper investigates a Lyapunov-based Model Predictive Control (LMPC) for solving the output consensus problem of nonlinear heterogeneous Multi-Agent Systems (MASs) subject to external disturbances and unknown time delay. Considering an appropriate Lyapunov–Krasovskii Functional (LKF), the optimization problem of the cost function is stated based on the given LKF which is effective in reducing the computational load. Additionally, sufficient conditions are derived to achieve the output consensus based on the [Formula: see text] performance index by solving the Linear Matrix Inequalities. To eliminate the effects of the unknown time delay in the MASs, the distributed controllers include both state feedback and time-delay state feedback terms. At last, numerical and practical examples are provided to show the applicability and effective performance of the proposed method.

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“…Yang et al [29] further considered the global consensus control for discrete-time systems with input saturation constraints and fixed undirected topologies, and some necessary conditions for achieving global consensus were obtained. In [30,31], model predictive control protocols were used to achieve constrained consensus when the topology had a directed spanning tree and the sampling period was sufficiently small. Taking a panoramic view of these existing investigations, gain parameters design for achieving consensus with input saturation constraints is a difficult problem.…”

Section: Introductionmentioning

confidence: 99%

Research on consensus of multi-agent systems with and without input saturation constraints

Liang

et al. 2021

J. of Syst. Eng. Electron.

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In recent years, with the continuous development of multi-agent technology represented by unmanned aerial vehicle (UAV) swarm, consensus control has become a hot spot in academic research. In this paper, we put forward a discrete-time consensus protocol and obtain the necessary and sufficient conditions for the second-order consensus of the second-order multi-agent system with a fixed structure under the condition of no saturation input. The theoretical derivation verifies that the two eigenvalues of the Laplacian of the communication network matrix and the sampling period have an important effect on achieving consensus. Then we construct and verify sufficient conditions to achieve consensus under the condition of input saturation constraints. The results show that consensus can be achieved if velocity, position gain, and sampling period satisfy a set of inequalities related to the eigenvalues of the Laplacian matrix. Finally, the accuracy and validity of the theoretical results are proved by numerical simulations.

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Consensus for First- and Second-Order Discrete-Time Multi-agent Systems with Delays Based on Model Predictive Control Schemes

Cited by 16 publications

References 20 publications

Robust model predictive control of heterogeneous time-delay multi-agent systems with polytopic uncertainties and input amplitude constraints

Robust model predictive control of heterogeneous time-delay multi-agent systems with polytopic uncertainties and input amplitude constraints

Robust H∞ output consensus of heterogeneous nonlinear multi-agent systems with external disturbance and unknown time-delay based on distributed Lyapunov-based MPC

Research on consensus of multi-agent systems with and without input saturation constraints

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