Consensus for First- and Second-Order Discrete-Time Multi-agent Systems with Delays Based on Model Predictive Control Schemes

Abstract

The problem of consensus for first- and second-order discrete-time multi-agent systems with delays is concerned in this paper. In particular, we apply the decentralized model predictive control schemes to multi-agent systems with bounded time delays, by which the input constraints can be taken into account. First, we establish the stability properties of time-delayed systems under the connectivity assumption and the strict convexity update rule based on the concept of enlarged system. Then, decentralized model predictive control schemes are proposed to solve the consensus problem based on time-varying prediction horizon length, which gives better performance than the existing method with time invariant prediction horizon length. Finally, simulation results illustrate the effectiveness of the proposed methods.