Event-triggered distributed receding horizon control for tracking and formation of homogeneous multi-agent systems. (February 2019)

• Record Type: Journal Article
• Authors: Yang, Yuanqing; Ding, Baocang
• Is Part Of: ISA transactions. Volume 85(2019)
• Page Start: 151
• Page End: 160
• Publication Date: 2019-02
• Subjects: Distributed receding horizon control(DRHC) -- Event-triggering condition -- Compatibility constraint -- Stability analysis; Engineering instruments -- Periodicals; Engineering instruments; Periodicals; Electronic journals; 629.805
• DOI: 10.1016/j.isatra.2018.08.019
• Languages: English
• ISSNs: 0019-0578

Abstract

Abstract: This paper proposes an event-triggered distributed receding horizon control (DRHC) approach for the formation and tracking problems of homogeneous multi-agent systems. For each agent, an event-triggering condition, based on assumed predictive information of the neighbours, is derived from stability analysis. Considering the uncertain deviation between the assumed and true predictive information, we design a time-varying compatibility constraint for the individual optimization problem. In the event-triggered DRHC algorithm, each agent solves the optimization problem and communicates with its neighbours only when the event-triggering condition is satisfied, so the communication and computation burden are reduced. Moreover, guarantees for the recursive feasibility and asymptotic stability of the overall system are proved. A simulation example is provided to illustrate effectiveness of the proposed approach. Highlights: An event-triggered distributed receding horizon control (DRHC) approach aimed at the formation and tracking problems of the homogeneous multi-agent systems is proposed. The event-triggering condition for each agent is designed based on stability analysis. Guarantees for the recursive feasibility and asymptotic stability of the overall system are proved.