Abstract
This paper presents an MPC (Model Predictive Control) based consensus algorithm which solves a consensus problem in which constraints are imposed on the increment of the state of each agent. After making an artificial consensus trajectory using a previously designed consensus algorithm, the MPC is used to make the agent track the consensus trajectory. Simulation results demonstrate the effectiveness of the proposed algorithm.
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Recommended by Editorial Board member Young Ik Son under the direction of Editor Young Il Lee. This research was supported by a Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science, and Technology (2010-0006131).
Jinyoung Lee received his B.S. degree in Electrical Engineering from Korea University in 2008, and his M.S. degree from Seoul National University. Currently, he works in Samsung’s Semiconductor Research Center. His research interests include multi-agent systems, optimization and robotics.
Jung-Su Kim received his B.S., M.S. and Ph.D. degrees in Electrical Engineering from Korea University. He was a post-doc at CDSL, Seoul National University, in 2005, at IST, University of Stuttgart, Germany from 2006–2007, and Systems Biology Laboratory, University of Leicester, UK, in 2008. Since 2009, he has been with the Department of Control and Instrumentation Engineering, Seoul National University of Science and Technology, as an assistant professor. His research interests include adaptive and predictive control, nonlinear control and systems biology.
Hwachang Song received his B.S., M.S. and Ph.D. degrees in Electrical Engineering from Korea University in 1997, 1999 and 2003, respectively. He was a postdoctoral visiting scholar at Iowa State University from 2003 to 2004. He was an assistant professor in the School of Electronic and Information Eng. at Kunsan National University from 2005 to 2008. Currently he is an associate professor in the Dept. of Electrical Eng. at Seoul Nat’l Univ. of Science and Tech. His main research interests are on power system stability, application of optimization and energy storage and renewable generation.
Hyungbo Shim received his B.S., M.S., and Ph.D. degrees from Seoul National University, Korea, in 1993, 1995 and 2000, respectively. From 2000 to 2002 he had a position as a post-doctoral fellow for the Center for Control Engineering and Computation at the University of California, Santa Barbara. In 2002, he joined the faculty of the Division of Electrical and Computer Engineering, Hanyang University, Seoul, Korea, where he was an assistant professor until 2003. Since then, he has been with the School of Electrical Engineering at Seoul National University, Korea, where he is currently an associate professor. His research interests include analysis and control of nonlinear systems.
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Lee, J., Kim, JS., Song, H. et al. A constrained consensus problem using MPC. Int. J. Control Autom. Syst. 9, 952–957 (2011). https://doi.org/10.1007/s12555-011-0516-5
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DOI: https://doi.org/10.1007/s12555-011-0516-5