A model predictive control scheme for consensus in multi-agent systems with single-integrator dynamics and input constraints

被引：0
|
作者：
Ferrari-Trecate, Giancarlo [1 ]
Galbusera, Luca [2 ]
Marciandi, Marco Pietro Enrico [3 ]
Scattolini, Riccardo [2 ]
机构：
[1] Univ Studi Pavia, Dipartimento Informat & Sistemist, Via Ferrata 1, I-27100 Pavia, Italy
[2] Politecn Milan, Dipartimento Elettr & Informat, I-20133 Milan, Italy
[3] CESI Ricerca Spa, I-20134 Milan, Italy
来源：
PROCEEDINGS OF THE 46TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14 | 2007年
关键词：
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中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we address the problem of driving "group of agents towards a consensus point when agents have "discrete-time single-integrator dynamics and the communication graph is undirected and time-varying. We propose a decentralized Model Predictive Control (MPC) scheme that takes into account constraints on the agent inputs and show that it guarantees consensus under mild assumptions. Since the global cost does not decrease monotonically, it cannot be used as a Lyapunov function for proving consensus. Rather, our proof exploits geometric properties of the optimal path followed by individual agents.
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页码：1935 / +
页数：2
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