Model predictive control based consensus scheme of discrete-time multi-agent systems with communication delay. (4th April 2022)

• Record Type: Journal Article
• Authors: Song, Guanghao; Liu, Xiaohua; Gao, Rong
• Is Part Of: International journal of system control and information processing. Volume 3:Number 4(2021)
• Page Start: 307
• Page End: 318
• Publication Date: 2022-04-04
• Subjects: communication delays -- discrete multi-agent systems -- state consensus -- high-order -- model predictive control; System design -- Data processing -- Periodicals; Information technology -- Periodicals; 003.5
• Languages: English
• ISSNs: 1759-9334

Abstract

In this paper, the state consensus of MPC for discrete-time multi-agent systems with communication delays is considered. When there is delay in the process of information transmission between adjacent agents, the control protocol design method of multi-agent system without delay can not deal with this situation. Therefore, a new control protocol design method is needed. Based on the Pontryagin's maximum principle and mathematical induction, a distributed MPC state consensus protocol is presented. In order to facilitate discussion, a new graph is constructed, and the relationship between the new topology graph and the original topology graph is given through a lemma. By using the error between the agent and the neighbour agent, and constructing the Lyapunov-Krasovskii function, a MPC cost function with terminal constraint which is monotonically decreasing, and the conditions for achieving state consensus of discrete multi-agent system with communication delay are given.