Distributed Consensus of Multi-Agent Systems With Input Constraints: A Model Predictive Control Approach

@article{Cheng2015DistributedCO,
  title={Distributed Consensus of Multi-Agent Systems With Input Constraints: A Model Predictive Control Approach},
  author={Zhaomeng Cheng and Hai-Tao Zhang and Ming-Can Fan and Guanrong Chen},
  journal={IEEE Transactions on Circuits and Systems I: Regular Papers},
  year={2015},
  volume={62},
  pages={825-834}
}
The discrete-time double-integrator consensus problem is addressed for multi-agent systems with directed switching proximity topologies and input constraints. Some model predictive control protocols are developed to achieve stable consensus under the condition that the proximity graph has a directed spanning tree and the sampling period is sufficiently small. Moreover, the control horizon is extended to larger than one, which endows sufficient degrees of freedom to accelerate the convergence to… CONTINUE READING
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