TY - EJOU
AU - Hou, Yueqi
AU - Liang, Xiaolong
AU - He, Lyulong
AU - Zhang, Jiaqiang
AU - Zhu, Jie
AU - Ren, Baoxiang
TI - Consensus of Multi-Agent Systems with Input Constraints Based on Distributed Predictive Control Scheme
T2 - Computers, Materials \& Continua
PY - 2020
VL - 62
IS - 3
SN - 1546-2226
AB - 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.
KW - Multi-agent systems
KW - consensus
KW - input constraints
KW - model predictive control
KW - distributed control
KW - switching interaction graphs
DO - 10.32604/cmc.2020.06869