Abstract
This paper addresses a distributed model predictive control (DMPC) scheme for multiagent systems with improving control performance. In order to penalize the deviation of the computed state trajectory from the assumed state trajectory, the deviation punishment is involved in the local cost function of each agent. The closed-loop stability is guaranteed with a large weight for deviation punishment. However, this large weight leads to much loss of control performance. Hence, the time-varying compatibility constraints of each agent are designed to balance the closed-loop stability and the control performance, so that the closed-loop stability is achieved with a small weight for the deviation punishment. A numerical example is given to illustrate the effectiveness of the proposed scheme.
Highlights
Interests in the cooperative control of multiagent systems have been growing significantly over the last years
model predictive control (MPC) is extensively applied to the cooperative control of multiagent systems, which makes the agents operate close to the constraint boundaries and obtain better performance than traditional approaches [1,2,3]
As the cooperative consistency and efficiency of distributed control moves is affected for the existence of the deviation of the computed state trajectory from the assumed state trajectory, it is appreciate to penalize it by adding the deviation punishment term into the local cost function
Summary
Interests in the cooperative control of multiagent systems have been growing significantly over the last years. MPC is extensively applied to the cooperative control of multiagent systems, which makes the agents operate close to the constraint boundaries and obtain better performance than traditional approaches [1,2,3]. In [11, 12], the optimal variables of the local optimization problem contain the control action of its own and its neighbors’ which are coupled in collision avoidance constraints and cost function. We give the stability condition to guarantee the exponential stability of the global closed-loop system with a small weight on the deviation punishment term, which is obtained by dividing the centralize stability constraint as the manner of [16, 17].
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