Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 54, Issue 11, Pages 2560-2572Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2009.2031208
Keywords
Consensus problems; decentralized model predictive control (MPC); networked autonomous agents
Funding
- HYCON Network of Excellence [FP6-IST-511368]
- 7th framework STREP [INFSO-ICT-223854]
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In this paper, we address the problem of driving a group of agents towards a consensus point when the agents have a discrete-time single- or double-integrator dynamics and the communication network is time-varying. We propose decentralized model predictive control schemes that take into account constraints on the agents' input and show that they guarantee consensus under mild assumptions. Since the global cost does not decrease monotonically, it cannot be used as a Lyapunov function for proving convergence to consensus. For this reason, our proofs exploit geometric properties of the optimal path followed by individual agents.
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