NDLI: Self-triggered distributed model predictive control for flocking of multi-agent systems

Content Provider	IET Digital Library
Author	Hu, Yanjie Zhan, Jingyuan Li, Xiang
Abstract	This study presents a self-triggered distributed model predictive control algorithm for the flock of a multi-agent system. All the agents in a flock are endowed with the capability of determining the sampling time adaptively to reduce the unnecessary energy consumption in communication and control updates. The agents are dynamically decoupled in a flock, and each agent is driven by a local model predictive controller, which is designed by minimising the position irregularity between the agent and its neighbours, velocity tracking errors as well as its control efforts. Moreover, the collision avoidance is considered by introducing constraints in the model predictive minimisation problem. In order to adaptively determine the sampling time, a self-triggered algorithm is designed by guaranteeing the decrease of the Lyapunov function. Finally, numerical simulations are given to demonstrate the feasibility of the proposed flocking algorithm.
Starting Page	2441
Ending Page	2448
Page Count	8
ISSN	17518644
Volume Number	12
e-ISSN	17518652
Issue Number	Issue 18, Dec (2018)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/12/18
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2018.5514
Journal	IET Control Theory & Applications
Publisher Date	2018-08-23
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Collision Avoidance Communication Update Control Update Distributed Control Flocking Algorithm Local Model Predictive Controller Lyapunov Function Lyapunov Method Minimisation Mobile Robots Model Predictive Minimisation Problem Multi-robot System Multiagent System Multivariable Control System Numerical Analysis Numerical Method Numerical Simulation Optimal Control Optimisation Technique Position Irregularity Minimisation Predictive Control Sampling Time Determination Self-triggered Distributed Model Predictive Control Algorithm Spatial Variables Control Stability in Control Theory Unnecessary Energy Consumption Velocity Tracking Error
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Distributed Lyapunov-based model predictive control for collision avoidance of multi-agent formation

Distributed optimisation design with triggers for disturbed continuous-time multi-agent systems

Distributed event-triggered algorithm for optimal resource allocation of second-order multi-agent systems

Receding horizon particle swarm optimisation-based formation control with collision avoidance for non-holonomic mobile robots

Distributed integral control of multiple UAVs: precise flocking and navigation

Distributed event-triggered algorithm for unconstrained convex optimisation over weight-balanced directed networks

Distributed model predictive control for consensus of sampled-data multi-agent systems with double-integrator dynamics

Sampled-data leader–follower algorithm for flocking of multi-agent systems

Distributed linear–quadratic regulator control for discrete-time multi-agent systems

Self-triggered distributed model predictive control for flocking of multi-agent systems

Similar Documents

Distributed Lyapunov-based model predictive control for collision avoidance of multi-agent formation

Distributed optimisation design with triggers for disturbed continuous-time multi-agent systems

Distributed event-triggered algorithm for optimal resource allocation of second-order multi-agent systems

Receding horizon particle swarm optimisation-based formation control with collision avoidance for non-holonomic mobile robots

Distributed integral control of multiple UAVs: precise flocking and navigation

Distributed event-triggered algorithm for unconstrained convex optimisation over weight-balanced directed networks

Distributed model predictive control for consensus of sampled-data multi-agent systems with double-integrator dynamics

Sampled-data leader–follower algorithm for flocking of multi-agent systems

Distributed linear–quadratic regulator control for discrete-time multi-agent systems

Self-triggered distributed model predictive control for flocking of multi-agent systems