Robust Event-triggered Model Predictive Control for Multi-Agent Systems with Switching Topologies

Abstract

A robust event-triggered model predictive control strategy for multi-agent systems with random switching topologies is proposed in this paper. An event-triggered scheme is proposed to determine when state information of an agent is broadcast to its local controller and neighboring agents. A distributed control protocol is presented. The consensus problem is converted to the stabilization of a Markov jump system. Then a sufficient condition for leader-following consensus is derived. With a synthesis method to propose the robust controller and event-triggered weighting matrix, the objective function is minimized. The effectiveness of the proposed method is illustrated by a numerical example.