Distributed Model Predictive Control for Consensus of Constrained Heterogeneous Linear Systems

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  • University of Stuttgart
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Original languageEnglish
Title of host publication2020 59th IEEE Conference on Decision and Control, CDC 2020
Pages1248-1253
Number of pages6
ISBN (electronic)9781728174471
Publication statusPublished - 2020

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2020-December
ISSN (Print)0743-1546
ISSN (electronic)2576-2370

Abstract

We consider the problem of steering a multi-agent system to consensus in their outputs. The agents' dynamics are assumed to be heterogeneous, linear, discrete-time and subject to local convex state and input constraints. We present a sequential distributed model predictive control algorithm that asymptotically steers the agents to consensus in their outputs. In their respective model predictive control problems, the agents minimise the distance of a local target output to those of their neighbours while simultaneously tracking the corresponding target steady-state and input pair. We only require the exchange of these target outputs in the scheme whereas the current state and entire predicted trajectories are not shared.

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Distributed Model Predictive Control for Consensus of Constrained Heterogeneous Linear Systems. / Hirche, M. ; Köhler, Philipp N.; Müller, Matthias et al.
2020 59th IEEE Conference on Decision and Control, CDC 2020. 2020. p. 1248-1253 9303838 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2020-December).

Research output: Chapter in book/report/conference proceedingConference contributionResearch

Hirche, M, Köhler, PN, Müller, M & Allgöwer, F 2020, Distributed Model Predictive Control for Consensus of Constrained Heterogeneous Linear Systems. in 2020 59th IEEE Conference on Decision and Control, CDC 2020., 9303838, Proceedings of the IEEE Conference on Decision and Control, vol. 2020-December, pp. 1248-1253. https://doi.org/10.1109/cdc42340.2020.9303838
Hirche, M., Köhler, P. N., Müller, M., & Allgöwer, F. (2020). Distributed Model Predictive Control for Consensus of Constrained Heterogeneous Linear Systems. In 2020 59th IEEE Conference on Decision and Control, CDC 2020 (pp. 1248-1253). Article 9303838 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2020-December). https://doi.org/10.1109/cdc42340.2020.9303838
Hirche M, Köhler PN, Müller M, Allgöwer F. Distributed Model Predictive Control for Consensus of Constrained Heterogeneous Linear Systems. In 2020 59th IEEE Conference on Decision and Control, CDC 2020. 2020. p. 1248-1253. 9303838. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/cdc42340.2020.9303838
Hirche, M. ; Köhler, Philipp N. ; Müller, Matthias et al. / Distributed Model Predictive Control for Consensus of Constrained Heterogeneous Linear Systems. 2020 59th IEEE Conference on Decision and Control, CDC 2020. 2020. pp. 1248-1253 (Proceedings of the IEEE Conference on Decision and Control).
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