Event-triggered distributed receding horizon control for tracking and formation of homogeneous multi-agent systems

Yuanqing Yang; Baocang Ding

doi:10.1016/j.isatra.2018.08.019

Event-triggered distributed receding horizon control for tracking and formation of homogeneous multi-agent systems

ISA Trans. 2019 Feb:85:151-160. doi: 10.1016/j.isatra.2018.08.019. Epub 2018 Oct 23.

Authors

Yuanqing Yang¹, Baocang Ding²

Affiliations

¹ Department of Automation, School of Electronic and Information Engineering, Xi'an Jiaotong University, PR China.
² Department of Automation, School of Electronic and Information Engineering, Xi'an Jiaotong University, PR China. Electronic address: baocangding@126.com.

PMID: 30392723
DOI: 10.1016/j.isatra.2018.08.019

Abstract

This paper proposes an event-triggered distributed receding horizon control (DRHC) approach for the formation and tracking problems of homogeneous multi-agent systems. For each agent, an event-triggering condition, based on assumed predictive information of the neighbours, is derived from stability analysis. Considering the uncertain deviation between the assumed and true predictive information, we design a time-varying compatibility constraint for the individual optimization problem. In the event-triggered DRHC algorithm, each agent solves the optimization problem and communicates with its neighbours only when the event-triggering condition is satisfied, so the communication and computation burden are reduced. Moreover, guarantees for the recursive feasibility and asymptotic stability of the overall system are proved. A simulation example is provided to illustrate effectiveness of the proposed approach.

Keywords: Compatibility constraint; Distributed receding horizon control(DRHC); Event-triggering condition; Stability analysis.