@Article{cmc.2020.06869,
AUTHOR = {Yueqi Hou, Xiaolong Liang, Lyulong He, Jiaqiang Zhang, Jie Zhu, Baoxiang Ren},
TITLE = {Consensus of Multi-Agent Systems with Input Constraints Based on Distributed Predictive Control Scheme},
JOURNAL = {Computers, Materials \& Continua},
VOLUME = {62},
YEAR = {2020},
NUMBER = {3},
PAGES = {1335--1349},
URL = {http://www.techscience.com/cmc/v62n3/38358},
ISSN = {1546-2226},
ABSTRACT = {Consensus control of multi-agent systems has attracted compelling attentions 
from various scientific communities for its promising applications. This paper presents a 
discrete-time consensus protocol for a class of multi-agent systems with switching 
topologies and input constraints based on distributed predictive control scheme. The 
consensus protocol is not only distributed but also depends on the errors of states between 
agent and its neighbors. We focus mainly on dealing with the input constraints and a 
distributed model predictive control scheme is developed to achieve stable consensus 
under the condition that both velocity and acceleration constraints are included
simultaneously. The acceleration constraint is regarded as the changing rate of velocity 
based on some reasonable assumptions so as to simplify the analysis. Theoretical analysis 
shows that the constrained system steered by the proposed protocol achieves consensus 
asymptotically if the switching interaction graphs always have a spanning tree. Numerical 
examples are also provided to illustrate the validity of the algorithm.},
DOI = {10.32604/cmc.2020.06869}
}