| 摘要: |
|
| 关键词: |
| DOI：10.1007/s11768-010-9181-0 |
| Received:September 04, 2009Revised:September 04, 2009 |
| 基金项目:The National Natural Science Foundation of China,The Foundation for University Key Teachers from the Ministry of Education of China |
|
| Distributed model predictive control for multiagent systems with improved consistency |
| Shanbi WEI,Yi CHAI,Baocang DING |
| (chongqing university;Chongqi University) |
| Abstract: |
| This paper addresses an improved distributed model predictive control (DMPC) scheme for multiagent
systems with an attempt to improving its consistency. The deviation between what an agent is actually doing and what
its neighbors believe that agent is doing is penalized in the cost function of each agent. At each sampling instant the
compatibility constraint of each agent is set tighter than the previous sampling instant. Like the traditional approach,
the performance cost is utilized as the Lyapunov function to prove closed-looped stability. The closed-loop stability is
guaranteed if the weight matrix for deviation in the cost function are sufficiently large. The proposed distributed control
scheme is formulated as quadratic programming with quadratic constraints. A numerical example is given to illustrate the
effectiveness of the proposed scheme. |
| Key words: Distributed model predictive control (DMPC) Multiagent systems Compatibility constraint Consistency |
