A distributed model predictive control scheme for leader-follower multi-agent systems

作者：Franze Giuseppe; Lucia Walter^*; Tedesco Francesco

来源：International Journal of Control, 2018, 91(2): 369-382.

DOI：10.1080/00207179.2017.1282178

• Model predictive control
• leader-follower formation
• constrained control
• set-theoretic control

In this paper, we present a novel receding horizon control scheme for solving the formation problem of leader-follower configurations. The algorithm is based on set-theoretic ideas and is tuned for agents described by linear time-invariant (LTI) systems subject to input and state constraints. The novelty of the proposed framework relies on the capability to jointly use sequences of one-step controllable sets and polyhedral piecewise state-space partitions in order to online apply the better' control action in a distributed receding horizon fashion. Moreover, we prove that the design of both robust positively invariant sets and one-step-ahead controllable regions is achieved in a distributed sense. Simulations and numerical comparisons with respect to centralised and local-based strategies are finally performed on a group of mobile robots to demonstrate the effectiveness of the proposed control strategy.

• 出版日期2018