Distributed Model Predictive Consensus of Constrained Heterogeneous Multiagent Systems
Huiyan Li, Jingyuan Zhan, Hai-Tao Zhang, Xiang Li
Abstract
In this article, the consensus of constrained linear heterogeneous multiagent systems under prediction and optimization is investigated. By optimizing the consensus problems constrained to state equations and general linear constraints, two types of distributed analytical model predictive controllers are proposed. Furthermore, stability conditions for the two types of controllers are derived, in which a relationship between the communication topology and dynamics of heterogeneous agents is clarified. Simulation examples of networked heterogeneous agents illustrate the convergence and validity of the proposed controllers.
Topics & Concepts
Multi-agent systemConvergence (economics)Computer scienceStability (learning theory)ConsensusMathematical optimizationDistributed computingModel predictive controlState (computer science)Topology (electrical circuits)Control (management)MathematicsArtificial intelligenceMachine learningAlgorithmCombinatoricsEconomicsEconomic growthDistributed Control Multi-Agent SystemsNeural Networks Stability and SynchronizationEnergy Efficient Wireless Sensor Networks