Distributed Model Predictive Control for Consensus of Multi-Agent Systems With Connectivity Maintenance

Abstract

This paper investigates the consensus with connectivity maintenance problem based on the distributed model predictive control (DMPC). To solve such connectivity-maintaining consensus problem, we propose a novel DMPC-based strategy, this novel strategy can handle the explicit practical input constraints and has a fast convergence speed. In the construction of this novel DMPC-based strategy, according to the requirements of both consensus and connectivity maintenance, we design a novel optimization problem and meanwhile design the terminal ingredients. Based on the designed optimization problem and the designed terminal ingredients, we construct a novel DMPC-based algorithm. It is proved in this paper that this novel algorithm is recursively feasible, and by implementing this algorithm, the connectivity can always be maintained, and the system can finally reach consensus. The simulation results demonstrate the effectiveness of the DMPC-based algorithm proposed in this paper.