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Distributed model predictive control for multi-agent systems with packet loss and actuator saturation
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  • Zhenfeng Jiang,
  • Hongchun Qu,
  • Guanghui Liu,
  • Zhihao Cao
Zhenfeng Jiang
Zaozhuang University

Corresponding Author:[email protected]

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Hongchun Qu
Zaozhuang University
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Guanghui Liu
Shandong Mingyuan Intelligent Equipment CoLtd
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Zhihao Cao
Zaozhuang University
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Abstract

This paper focuses on the distributed model predictive control for multi-agent systems subject to packet loss and actuator saturation. The multi-agent systems, which can be decoupled into several subsystems, have a coupled global cost function. By decoupling the global cost function, the distributed model predictive control for multi-agent systems is approximately cast into centralized model predictive control for each agent with a cost function including the states of the neighboring agents. The exchange of states between adjacent agents realized by communication network may subject to packet loss which is assumed to obey a Bernoulli distribution with probability being known. Actuator saturation is also considered and dealt with by the Nth-step set invariance approach. To ensure the multi-agent systems is asymptotically stable, a compatibility condition is provided. The problem of controller design for agent is converted into a Linear matrix inequality optimization problem involving compatibility constraint. Furthermore, a control algorithm is obtained to ensure the asymptotic stability of the global closed-loop system as well as the recursive feasibility of the optimization problem. Finally according to a simulation example, it is concluded that the presented method is effective.