A new distributed model predictive control for unconstrained double-integrator multiagent systems
In this paper, a distributed model predictive control (DMPC) is proposed for static formation of unconstrained double-integrator multiagent systems. The formation problem is formulated in the leader-follower framework, where the leaders have access to both their own and relative neighboring informat...
| Main Authors: | , , |
|---|---|
| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2020
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/145270 |
| _version_ | 1811691704999215104 |
|---|---|
| author | Zhu, Bing Guo, Kexin Xie, Lihua |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Zhu, Bing Guo, Kexin Xie, Lihua |
| author_sort | Zhu, Bing |
| collection | NTU |
| description | In this paper, a distributed model predictive control (DMPC) is proposed for static formation of unconstrained double-integrator multiagent systems. The formation problem is formulated in the leader-follower framework, where the leaders have access to both their own and relative neighboring information, and the followers only have access to relative neighboring information. In the process of optimization, only current relative information is communicated between neighboring agents. For each agent, its predicted control vector and neighboring control vectors are regarded as decision variables for optimization, but only the own optimized current control of the agent is implemented. An analytical solution to the DMPC is obtained, and new sufficient conditions are given for achieving the static formation. |
| first_indexed | 2024-10-01T06:24:08Z |
| format | Journal Article |
| id | ntu-10356/145270 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:24:08Z |
| publishDate | 2020 |
| record_format | dspace |
| spelling | ntu-10356/1452702020-12-16T06:03:52Z A new distributed model predictive control for unconstrained double-integrator multiagent systems Zhu, Bing Guo, Kexin Xie, Lihua School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Indexes Distributed Control In this paper, a distributed model predictive control (DMPC) is proposed for static formation of unconstrained double-integrator multiagent systems. The formation problem is formulated in the leader-follower framework, where the leaders have access to both their own and relative neighboring information, and the followers only have access to relative neighboring information. In the process of optimization, only current relative information is communicated between neighboring agents. For each agent, its predicted control vector and neighboring control vectors are regarded as decision variables for optimization, but only the own optimized current control of the agent is implemented. An analytical solution to the DMPC is obtained, and new sufficient conditions are given for achieving the static formation. 2020-12-16T06:03:52Z 2020-12-16T06:03:52Z 2018 Journal Article Zhu, B., Guo, K., & Xie, L. (2018). A new distributed model predictive control for unconstrained double-integrator multiagent systems. IEEE Transactions on Automatic Control, 63(12), 4367-4374. doi:10.1109/TAC.2018.2819429 1558-2523 https://hdl.handle.net/10356/145270 10.1109/TAC.2018.2819429 12 63 4367 4374 en IEEE Transactions on Automatic Control © 2018 Institute of Electrical and Electronics Engineers (IEEE). All rights reserved. |
| spellingShingle | Engineering::Electrical and electronic engineering Indexes Distributed Control Zhu, Bing Guo, Kexin Xie, Lihua A new distributed model predictive control for unconstrained double-integrator multiagent systems |
| title | A new distributed model predictive control for unconstrained double-integrator multiagent systems |
| title_full | A new distributed model predictive control for unconstrained double-integrator multiagent systems |
| title_fullStr | A new distributed model predictive control for unconstrained double-integrator multiagent systems |
| title_full_unstemmed | A new distributed model predictive control for unconstrained double-integrator multiagent systems |
| title_short | A new distributed model predictive control for unconstrained double-integrator multiagent systems |
| title_sort | new distributed model predictive control for unconstrained double integrator multiagent systems |
| topic | Engineering::Electrical and electronic engineering Indexes Distributed Control |
| url | https://hdl.handle.net/10356/145270 |
| work_keys_str_mv | AT zhubing anewdistributedmodelpredictivecontrolforunconstraineddoubleintegratormultiagentsystems AT guokexin anewdistributedmodelpredictivecontrolforunconstraineddoubleintegratormultiagentsystems AT xielihua anewdistributedmodelpredictivecontrolforunconstraineddoubleintegratormultiagentsystems AT zhubing newdistributedmodelpredictivecontrolforunconstraineddoubleintegratormultiagentsystems AT guokexin newdistributedmodelpredictivecontrolforunconstraineddoubleintegratormultiagentsystems AT xielihua newdistributedmodelpredictivecontrolforunconstraineddoubleintegratormultiagentsystems |