Consensus of Double-Integrator Multi-Agent Systems Using Decentralized Model Predictive Control
| Autor: | Anggraeni, Pipit, Defoort, Michael, Djemai, Mohamed, Subiantoro, Aries, Muis, Abdul |
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| Přispěvatelé: | Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Université de Valenciennes et du Hainaut-Cambrésis (UVHC)-Centre National de la Recherche Scientifique (CNRS)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France) |
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
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| Zdroj: | 5th International Conference on Control Engineering and Information Technology 5th International Conference on Control Engineering and Information Technology, Dec 2017, Sousse, Tunisia |
| Popis: | International audience; This paper studies the consensus for a group of agents which have a discrete-time double-integrator dynamics. To solve this problem, a Model Predictive Control (MPC) scheme is introduced. The proposed control protocol is decentralized and is designed by combining graph theory with a predictive control algorithm to take into account the switches on the communication topology. The predictive strategy is used to estimate input and output of agent through a receding horizon. Contrary to many existing works, the cost function is designed using the difference between two consecutive inputs. The controller has integrator properties to eliminate steady-state errors. Finally, some simulation results are given to show the effectiveness of the proposed model predictive control. |
| Databáze: | OpenAIRE |
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