Event-triggered Synchronous Distributed Model Predictive Control for Multi-agent Systems

An event-triggered distributed model predictive control (DMPC) approach for a type of dynamically decoupled, independently constrained systems with a coupled performance objective, is presented. The approach employs, for each agent, a compatibility constraint (in the spirit of Dunbar and Murray) in the optimization problem. An event-triggering condition, based-on the overall stability condition of the system, is developed. If the triggering condition for an agent is satisfied, then the agent solves its optimization problem; otherwise, then the agent retain feasibility and stability by simply adopting the tail of its previous solutions. A simulation example is provided to illustrate the effectiveness of the provided approach.