title: Distributed MPC based consensus for single-integrator multi-agent systems.
abstract: This paper addresses model predictive control schemes for consensus in multi-agent systems (MASs) with discrete-time single-integrator dynamics under switching directed interaction graphs. The control horizon is extended to be greater than one which endows the closed-loop system with extra degree of freedom. We derive sufficient conditions on the sampling period and the interaction graph to achieve consensus by using the property of infinite products of stochastic matrices. Consensus can be achieved asymptotically if the sampling period is selected such that the interaction graph among agents has a directed spanning tree jointly. Significantly, if the interaction graph always has a spanning tree, one can select an arbitrary large sampling period to guarantee consensus. Finally, several simulations are conducted to illustrate the effectiveness of the theoretical results.
authors.affiliation: School of Automation, Key Laboratory of Image Processing and Intelligent Control, State Key Laboratory of Digital Manufacturing Equipments and Technology, Huazhong University of Science and Technology, Wuhan 430074, PR China.
authors.forename: Zhaomeng
authors.initials: Z
authors.lastname: Cheng
authors.affiliation: School of Automation, Key Laboratory of Image Processing and Intelligent Control, State Key Laboratory of Digital Manufacturing Equipments and Technology, Huazhong University of Science and Technology, Wuhan 430074, PR China.
authors.forename: Ming-Can
authors.initials: MC
authors.lastname: Fan
authors.affiliation: School of Automation, Key Laboratory of Image Processing and Intelligent Control, State Key Laboratory of Digital Manufacturing Equipments and Technology, Huazhong University of Science and Technology, Wuhan 430074, PR China. Electronic address: zht@mail.hust.edu.cn.
authors.forename: Hai-Tao
authors.initials: HT
authors.lastname: Zhang
keywords: Consensus; Distributed control; Model predictive control (MPC); Multi-agent systems (MASs); Sampled-data setting