Open AccessEnergy‐efficient cooperative predictive control for multi‐agent non‐linear systems with transmission delay
Author(s) -
He Defeng,
Lu Liangye,
Luo Renshi,
Zhang Wenan
Publication year - 2019
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.5794
Subject(s) - control theory (sociology) , model predictive control , transmission (telecommunications) , computer science , control (management) , energy (signal processing) , transmission delay , multi agent system , control engineering , engineering , mathematics , artificial intelligence , telecommunications , statistics
This study proposes a novel distributed economic model predictive control (EMPC) strategy for energy‐efficient cooperative formation of decoupled multi‐agent non‐linear systems with transmission delay. In this system, each subsystem is controlled to maximise the economic performance during tracking the reference trajectory and maintaining its relative position to the neighbouring subsystems. The cooperation between subsystems is executed through the cost functions and coupled constraints associated with the delayed information. A Lyapunov‐based contractive constraint is introduced to establish recursive feasibility of the proposed EMPC strategy. Moreover, stability of any single subsystem with the EMPC is proved rigorously by exploiting the idea of input‐to‐state stability and for both strongly and weakly connected networks, stability of the whole system is then proved by using the generalised small gain condition. The effectiveness of the proposed strategy is illustrated by two numerical simulation experiments.