Abstract
This study investigates the consensus problem of a nonlinear discrete-time multi-agent system (MAS) under bounded additive disturbances. We propose a self-triggered robust distributed model predictive control consensus algorithm. A new cost function is constructed and MAS is coupled through this function. Based on the proposed cost function, a self-triggered mechanism is adopted to reduce the communication load. Furthermore, to overcome additive disturbances, a local minimum-maximum optimization problem under the worst-case scenario is solved iteratively by the model predictive controller of each agent. Sufficient conditions are provided to guarantee the iterative feasibility of the algorithm and the consensus of the closed-loop MAS. For each agent, we provide a concrete form of compatibility constraint and a consensus error terminal region. Numerical examples are provided to illustrate the effectiveness and correctness of the proposed algorithm.
摘要
针对一类有界加性扰动下的非线性离散多智能体系统一致性问题, 提出一种基于自触发鲁棒分布式模型预测控制的一致性算法. 首先构造了一个新的代价函数, 多智能体系统通过该函数进行耦合控制. 在该代价函数基础上, 采用自触发机制, 有效降低了通信负担. 为克服加性扰动, 利用每个智能体的模型预测控制器迭代求解最坏情况下的局部最小—最大优化问题. 然后, 给出保证算法迭代可行性和闭环多智能体系统达到一致性的充分条件. 对于每个智能体, 设计了兼容性约束和一致性误差终端域. 最后, 通过仿真算例验证了所提算法的有效性和正确性.
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Project supported by the National Natural Science Foundation of China (Nos. 61973074, U1713209, 61520106009, 61533008, and 61921004), the National Key R&D Program of China (No. 2018AAA0101400), and the Science and Technology on Information System Engineering Laboratory, China (No. 05201902)
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Qingling WANG, Yanxu SU, and Changyin SUN guided the research. Jiaqi LI performed the experiments and drafted the manuscript. Qingling WANG and Yanxu SU helped organize the manuscript. Jiaqi LI revised and finalized the paper.
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Jiaqi LI, Qingling WANG, Yanxu SU, and Changyin SUN declare that they have no conflict of interest.
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Li, J., Wang, Q., Su, Y. et al. Robust distributed model predictive consensus of discrete-time multi-agent systems: a self-triggered approach. Front Inform Technol Electron Eng 22, 1068–1079 (2021). https://doi.org/10.1631/FITEE.2000182
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DOI: https://doi.org/10.1631/FITEE.2000182