Model Predictive Control Schemes for Consensus in Multi-Agent Systems with Single- and Double-Integrator Dynamics

  title={Model Predictive Control Schemes for Consensus in Multi-Agent Systems with Single- and Double-Integrator Dynamics},
  author={Giancarlo Ferrari-Trecate and Luca Galbusera and Marco Pietro Enrico Marciandi and Riccardo Scattolini},
  journal={IEEE Transactions on Automatic Control},
In this paper, we address the problem of driving a group of agents towards a consensus point when the agents have a discrete-time single- or double-integrator dynamics and the communication network is time-varying. We propose decentralized model predictive control schemes that take into account constraints on the agents' input and show that they guarantee consensus under mild assumptions. Since the global cost does not decrease monotonically, it cannot be used as a Lyapunov function for proving… CONTINUE READING
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