Consensus for First- and Second-Order Discrete-Time Multi-agent Systems with Delays Based on Model Predictive Control Schemes

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• 作者：Zhaozhun Zhong (1)
  Lining Sun (2)
  Jingcheng Wang (3)
  Penghong Lv (4)
  Hongjing Zheng (5)
  
  1. School of Computer Science and Technology ; Soochow University ; Suzhou ; 215006 ; Jiangsu ; People鈥檚 Republic of China
  2. School of Mechanical and Electric Engineering ; Soochow University ; Suzhou ; 215006 ; Jiangsu ; People鈥檚 Republic of China
  3. Department of Automation ; Shanghai Jiaotong University ; Shanghai ; 200240 ; People鈥檚 Republic of China
  4. Department of Industry Development ; Zhejiang Province Development Planning and Research Institute ; Hangzhou ; 310012 ; Zhejiang ; People鈥檚 Republic of China
  5. School of Computer Engineering ; Suzhou Vocational University ; Suzhou ; 215104 ; Jiangsu ; People鈥檚 Republic of China
  
• 关键词：Consensus problems ; Multi ; agent systems ; Time delays ; Model predictive control
• 刊名：Circuits, Systems, and Signal Processing
• 出版年：2015
• 出版时间：January 2015
• 年：2015
• 卷：34
• 期：1
• 页码：127-152
• 全文大小：758 KB
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• 刊物类别：Engineering
• 刊物主题：Electronic and Computer Engineering
  
• 出版者：Birkh盲user Boston
• ISSN：1531-5878

文摘

The problem of consensus for first- and second-order discrete-time multi-agent systems with delays is concerned in this paper. In particular, we apply the decentralized model predictive control schemes to multi-agent systems with bounded time delays, by which the input constraints can be taken into account. First, we establish the stability properties of time-delayed systems under the connectivity assumption and the strict convexity update rule based on the concept of enlarged system. Then, decentralized model predictive control schemes are proposed to solve the consensus problem based on time-varying prediction horizon length, which gives better performance than the existing method with time invariant prediction horizon length. Finally, simulation results illustrate the effectiveness of the proposed methods.