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Event-triggered Synchronous Distributed Model Predictive Control for Multi-agent Systems
Xiaoming Tang,Mengyue Li,Shanbi Wei,Baocang Ding 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.3
An event-triggered distributed model predictive control (DMPC) approach for a type of dynamically decoupled, independently constrained systems with a coupled performance objective, is presented. The approach employs, for each agent, a compatibility constraint (in the spirit of Dunbar and Murray) in the optimization problem. An event-triggering condition, based-on the overall stability condition of the system, is developed. If the triggering condition for an agent is satisfied, then the agent solves its optimization problem; otherwise, then the agent retainfeasibility and stability by simply adopting the tail of its previous solutions. A simulation example is provided to illustrate the effectiveness of the provided approach.