Distributed Model Predictive Control of the Multi-Agent Systems with Improving Control Performance

Wei Shanbi, Chai Yi, Li Penghua
2012 Journal of Control Science and Engineering  
This paper addresses a distributed model predictive control (DMPC) scheme for multiagent systems with improving control performance. In order to penalize the deviation of the computed state trajectory from the assumed state trajectory, the deviation punishment is involved in the local cost function of each agent. The closed-loop stability is guaranteed with a large weight for deviation punishment. However, this large weight leads to much loss of control performance. Hence, the time-varying
more » ... e time-varying compatibility constraints of each agent are designed to balance the closed-loop stability and the control performance, so that the closed-loop stability is achieved with a small weight for the deviation punishment. A numerical example is given to illustrate the effectiveness of the proposed scheme.
doi:10.1155/2012/313716 fatcat:qioryzl5q5db7ptnnwptvvizbq