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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-varyingdoi:10.1155/2012/313716 fatcat:qioryzl5q5db7ptnnwptvvizbq