Distributed Model Predictive Consensus of Constrained Heterogeneous Multiagent Systems
研究了在预测与优化下约束线性异构多智能体系统的一致性问题，提出了两种分布式解析模型预测控制器，并推导了稳定性条件，仿真验证了收敛性和有效性。
In this article, the consensus of constrained linear heterogeneous multiagent systems under prediction and optimization is investigated. By optimizing the consensus problems constrained to state equations and general linear constraints, two types of distributed analytical model predictive controllers are proposed. Furthermore, stability conditions for the two types of controllers are derived, in which a relationship between the communication topology and dynamics of heterogeneous agents is clarified. Simulation examples of networked heterogeneous agents illustrate the convergence and validity of the proposed controllers.