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Distributed MPC for Tracking and Formation of Homogeneous Multi‐agent System with Time‐Varying Communication Topology
Author(s) -
Ding Baocang,
Ge Liang,
Pan Hongguang,
Wang Peng
Publication year - 2016
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1186
Subject(s) - homogeneous , multi agent system , topology (electrical circuits) , tracking (education) , distributed computing , computer science , mathematics , psychology , artificial intelligence , pedagogy , combinatorics
The distributed model predictive control (MPC) is studied for the tracking and formation problem of multi‐agent system with time‐varying communication topology. At each sampling instant, each agent solves an optimization problem respecting input and state constraints, to obtain its optimal control input. In the cost function for the optimization problem of each agent, the formation weighting coefficient is properly updated so that the adverse effect of the time‐varying communication topology on the closed‐loop stability can be counteracted. It is shown that the overall multi‐agent system can achieve the desired tracking and formation objectives. The effectiveness of the results is demonstrated through two examples.