Cooperative Constrained Control of Distributed Agents With Nonlinear Dynamics and Delayed Information Exchange: A Stabilizing Receding-Horizon Approach

Abstract

This paper addresses the problem of cooperative control of a team of distributed agents with decoupled nonlinear discrete-time dynamics, which operate in a common environment and exchange-delayed information between them. Each agent is assumed to evolve in discrete-time, based on locally computed control laws, which are computed by exchanging delayed state information with a subset of neighboring agents. The cooperative control problem is formulated in a receding-horizon framework, where the control laws depend on the local state variables (feedback action) and on delayed information gathered from cooperating neighboring agents (feedforward action). A rigorous stability analysis exploiting the input-to-state stability properties of the receding-horizon local control laws is carried out. The stability of the team of agents is then proved by utilizing small-gain theorem results.

DOI: 10.1109/TAC.2007.914956

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@article{Franco2008CooperativeCC, title={Cooperative Constrained Control of Distributed Agents With Nonlinear Dynamics and Delayed Information Exchange: A Stabilizing Receding-Horizon Approach}, author={Elisa Franco and Lalo Magni and Thomas Parisini and Marios M. Polycarpou and Davide Martino Raimondo}, journal={IEEE Trans. Automat. Contr.}, year={2008}, volume={53}, pages={324-338} }