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

Abstract

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.

A Hybrid Predictive Type-3 Fuzzy Control for Time-Delay Multi-Agent Systems

“…The results in Figures 5-10 verify the usefulness of the policies described in this paper in both aspects of learning an unknown behavior of a system and gaining a consensus among agents for the case of nonlinear systems. Similar results are presented in [10,32]. However, in contrast to the existing results of [10,32], high-order nonlinear terms and unknown dynamical behavior of the system can be tackled by the suggested approach.…”

“…Similar results are presented in [10,32]. However, in contrast to the existing results of [10,32], high-order nonlinear terms and unknown dynamical behavior of the system can be tackled by the suggested approach.…”

“…The focus of this paper is on designing a distributed control policy in order to achieve a consensus among agents in a finite time. Although optimization-based algorithms have been proposed in [10,32] to analyze the consensus problem of heterogeneous MASs the effects of nonlinear perturbations and unknown time delays have not been considered in these works and only a simple linear dynamical model has been assumed for the agents. This restriction is relaxed in this paper and a wide range of practical systems/implementations can be handled via utilizing the method described in this paper.…”

“…In another paper, a distributed resilient controller was designed to tackle sensor faults/attacks and study the ultimate boundedness of heterogeneous MASs [9]. The authors used a model predictive control (MPC) approach for the consensus of MASs in [10]. Recently, the synchronization problem of MASs subject to disturbances was investigated in [11].…”

Event-triggered adaptive fault-tolerant attitude synchronization and tracking control of multiple rigid bodies with finite-time convergence

“…In recent years, attitude synchronization and tracking control of multiple rigid bodies has drawn increasing attention because of more requirement for reliability, fault-tolerant capability, and lower cost (Rahimi and Binazadeh, 2020). From practical point of view, efficient resource utilization is a very important factor in cooperative control of multi-agent mission, especially when lifetime duration and the number of agents are significant, such as space missions.…”