期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 53, 期 1, 页码 324-338出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2007.914956
关键词
constrained systems; cooperative control; model predictive control; nonlinear systems; receding-horizon control
This paper addresses the problem of cooperative control of a team of distributed agents with decoupled nonlinear discrete-time dynamics, which operate in a common environment and exchange-delayed information between them. Each agent is assumed to evolve in discrete-time, based on locally computed control laws, which are computed by exchanging delayed state information with a subset of neighboring agents. The cooperative control problem is formulated in a receding-horizon framework, where the control laws depend on the local state variables (feedback action) and on delayed information gathered from cooperating neighboring agents.(feedforward action). A rigorous stability analysis exploiting the input-to-state stability properties of the receding-horizon local control laws is carried out. The stability of the team of agents is then proved by utilizing small-gain theorem results.
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