Title :
Model Predictive Control Schemes for Consensus in Multi-Agent Systems with Single- and Double-Integrator Dynamics
Author :
Ferrari-Trecate, Giancarlo ; Galbusera, Luca ; Marciandi, Marco Pietro Enrico ; Scattolini, Riccardo
Author_Institution :
Dipt. di Inf. e Sist., Univ. degli Studi di Pavia, Pavia, Italy
Abstract :
In this paper, we address the problem of driving a group of agents towards a consensus point when the agents have a discrete-time single- or double-integrator dynamics and the communication network is time-varying. We propose decentralized model predictive control schemes that take into account constraints on the agents´ input and show that they guarantee consensus under mild assumptions. Since the global cost does not decrease monotonically, it cannot be used as a Lyapunov function for proving convergence to consensus. For this reason, our proofs exploit geometric properties of the optimal path followed by individual agents.
Keywords :
multi-agent systems; predictive control; time-varying systems; Lyapunov function; consensus; decentralized model; double-integrator dynamics; model predictive control; multi-agent systems; single-integrator dynamics; time-varying communication network; Communication networks; Communication system control; Cost function; Lyapunov method; Multiagent systems; Optimal control; Predictive control; Predictive models; Time varying systems; Vehicle dynamics; Consensus problems; decentralized model predictive control (MPC); networked autonomous agents;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2009.2031208