Title: Model predictive control based consensus scheme of discrete-time multi-agent systems with communication delay

Authors: Guanghao Song; Xiaohua Liu; Rong Gao

Addresses: Ludong University, School of Mathematics and Statistics Science, Yantai 264011, China ' Ludong University, School of Mathematics and Statistics Science, Yantai 264011, China ' Ludong University, School of Mathematics and Statistics Science, Yantai 264011, China

Abstract: In this paper, the state consensus of MPC for discrete-time multi-agent systems with communication delays is considered. When there is delay in the process of information transmission between adjacent agents, the control protocol design method of multi-agent system without delay can not deal with this situation. Therefore, a new control protocol design method is needed. Based on the Pontryagin's maximum principle and mathematical induction, a distributed MPC state consensus protocol is presented. In order to facilitate discussion, a new graph is constructed, and the relationship between the new topology graph and the original topology graph is given through a lemma. By using the error between the agent and the neighbour agent, and constructing the Lyapunov-Krasovskii function, a MPC cost function with terminal constraint which is monotonically decreasing, and the conditions for achieving state consensus of discrete multi-agent system with communication delay are given.

Keywords: communication delays; discrete multi-agent systems; state consensus; high-order; model predictive control.

DOI: 10.1504/IJSCIP.2021.125160

International Journal of System Control and Information Processing, 2021 Vol.3 No.4, pp.307 - 318

Received: 28 Jun 2021
Accepted: 28 Nov 2021
Published online: 31 Aug 2022 *

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