A new distributed model predictive control for unconstrained double-integrator multiagent systems

In this paper, a distributed model predictive control (DMPC) is proposed for static formation of unconstrained double-integrator multiagent systems. The formation problem is formulated in the leader-follower framework, where the leaders have access to both their own and relative neighboring informat...

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Main Authors: Zhu, Bing, Guo, Kexin, Xie, Lihua
Other Authors: School of Electrical and Electronic Engineering
Format: Article
Language:English
Published: 2020
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Online Access:https://hdl.handle.net/10356/145270
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1452702020-12-16T06:03:52Z A new distributed model predictive control for unconstrained double-integrator multiagent systems Zhu, Bing Guo, Kexin Xie, Lihua School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Indexes Distributed Control In this paper, a distributed model predictive control (DMPC) is proposed for static formation of unconstrained double-integrator multiagent systems. The formation problem is formulated in the leader-follower framework, where the leaders have access to both their own and relative neighboring information, and the followers only have access to relative neighboring information. In the process of optimization, only current relative information is communicated between neighboring agents. For each agent, its predicted control vector and neighboring control vectors are regarded as decision variables for optimization, but only the own optimized current control of the agent is implemented. An analytical solution to the DMPC is obtained, and new sufficient conditions are given for achieving the static formation. 2020-12-16T06:03:52Z 2020-12-16T06:03:52Z 2018 Journal Article Zhu, B., Guo, K., & Xie, L. (2018). A new distributed model predictive control for unconstrained double-integrator multiagent systems. IEEE Transactions on Automatic Control, 63(12), 4367-4374. doi:10.1109/TAC.2018.2819429 1558-2523 https://hdl.handle.net/10356/145270 10.1109/TAC.2018.2819429 12 63 4367 4374 en IEEE Transactions on Automatic Control © 2018 Institute of Electrical and Electronics Engineers (IEEE). All rights reserved.
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Electrical and electronic engineering
Indexes
Distributed Control
spellingShingle Engineering::Electrical and electronic engineering
Indexes
Distributed Control
Zhu, Bing
Guo, Kexin
Xie, Lihua
A new distributed model predictive control for unconstrained double-integrator multiagent systems
description In this paper, a distributed model predictive control (DMPC) is proposed for static formation of unconstrained double-integrator multiagent systems. The formation problem is formulated in the leader-follower framework, where the leaders have access to both their own and relative neighboring information, and the followers only have access to relative neighboring information. In the process of optimization, only current relative information is communicated between neighboring agents. For each agent, its predicted control vector and neighboring control vectors are regarded as decision variables for optimization, but only the own optimized current control of the agent is implemented. An analytical solution to the DMPC is obtained, and new sufficient conditions are given for achieving the static formation.
author2 School of Electrical and Electronic Engineering
author_facet School of Electrical and Electronic Engineering
Zhu, Bing
Guo, Kexin
Xie, Lihua
format Article
author Zhu, Bing
Guo, Kexin
Xie, Lihua
author_sort Zhu, Bing
title A new distributed model predictive control for unconstrained double-integrator multiagent systems
title_short A new distributed model predictive control for unconstrained double-integrator multiagent systems
title_full A new distributed model predictive control for unconstrained double-integrator multiagent systems
title_fullStr A new distributed model predictive control for unconstrained double-integrator multiagent systems
title_full_unstemmed A new distributed model predictive control for unconstrained double-integrator multiagent systems
title_sort new distributed model predictive control for unconstrained double-integrator multiagent systems
publishDate 2020
url https://hdl.handle.net/10356/145270
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