Distributed model predictive control for multi-agent systems with coupling constraints Online publication date: Tue, 10-Aug-2010
by Wei ShanBi, Baocang Ding, Chen Gang, Chai Yi
International Journal of Modelling, Identification and Control (IJMIC), Vol. 10, No. 3/4, 2010
Abstract: This paper proposes an improved distributed model predictive control (DMPC) scheme for multi-agent systems with coupling constraints by applying compatibility constraint and deviation penalisation. Firstly, a sufficient condition based on the compatibility constraint to satisfying cooperative coupling constraints is given, which enables control performance and coupling constraints dependent on the compatibility constraint. Then, in order to optimise the control trajectory and to improve the consistency of the actions between agents, the deviation between what an agent is actually doing and what its neighbours believe it is doing is penalised in the cost function. At each sampling instant, the compatibility constraint of each agent is set tighter than the previous sampling instant. The optimal control problem is formulated as quadratic programming with quadratic constraints. Finally, two simulation examples are given to illustrate the effectiveness of the proposed scheme.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook