Multi-agent Consensus Control Based on Distributed Model Predictive Control
Considering the problem of consistency control for multi-agent systems with control inputs,a distributed model predictive control strategy is proposed.The communication relationship between vehicles is represented by graph theory.Each subsystem in multi-agent is decoupled from each other,and its opti-mization problem is related not only to its own subsystem state information,but also to the neighbor state.By using model predictive control,rolling time domain and alternative Lyapunov function,sufficient condi-tions for system stability and recursion of optimization problem are established,the state of each agent con-verges to the same value to achieve multi-agent cooperative consistency control.The effectiveness of the proposed strategy is verified by numerical simulation.
万方数据
维普
