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Distributed Model Predictive Control of the Multi-agent Systems with Communication Distance Constraints

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Advances in Swarm Intelligence (ICSI 2012)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 7331))

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Abstract

This paper addresses a distributed model predictive control (DMPC) scheme for multi-agent systems with communication distance constraints. Firstly, the communication distance constraints are dealt as non-coupling constraints by using the time varying compatibility constraints and the assumed state trajectory. Obviously, the control performance for all system is influenced by the time-varying compatibility constraints. Secondly, the deviation punishment is involved in the local cost function of each agent to penalize the deviation of the computed state trajectory from the assumed state. The value of the time-varying compatibility constraints is set according to the deviation of previous sample time. The closed-loop stability is guaranteed with a large weight for deviation punishment. A numerical example is given to illustrate the effectiveness of the proposed scheme.

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Author information

Authors and Affiliations

  1. College of Automation, Chongqing University, Chongqing, 400044, P.R. China

    Shanbi Wei, Yi Chai, Hongpeng Yin & Penghua Li

Authors
  1. Shanbi Wei
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  2. Yi Chai
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  3. Hongpeng Yin
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  4. Penghua Li
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Editor information

Editors and Affiliations

  1. Key Laboratory of Machine Perception (MOE), Peking University, Department of Machine Intelligence, School of Electronics Engineering and Computer Science, Peking University, 100871, Beijing, China

    Ying Tan

  2. Department of Electrical and Electronic Engineering, Xi’an Jiaotong-Liverpool University, Suzhou, China

    Yuhui Shi

  3. Shenzhen City Key Laboratory of Embedded System Design, College of Computer Science and Software Engineering, Shenzhen University, 518060, Shenzhen, China

    Zhen Ji

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© 2012 Springer-Verlag Berlin Heidelberg

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Wei, S., Chai, Y., Yin, H., Li, P. (2012). Distributed Model Predictive Control of the Multi-agent Systems with Communication Distance Constraints. In: Tan, Y., Shi, Y., Ji, Z. (eds) Advances in Swarm Intelligence. ICSI 2012. Lecture Notes in Computer Science, vol 7331. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-30976-2_71

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  • DOI: https://doi.org/10.1007/978-3-642-30976-2_71

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-30975-5

  • Online ISBN: 978-3-642-30976-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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