A constrained consensus problem using MPC

Jinyoung Lee; Jung Su Kim; Hwachang Song; Hyungbo Shim

doi:10.1007/s12555-011-0516-5

A constrained consensus problem using MPC

Jinyoung Lee
, Jung Su Kim
, Hwachang Song
, Hyungbo Shim

Dept. of Electrical and Information Engineering

Seoul National University

Research output: Contribution to journal › Article › peer-review

30 Scopus citations

Abstract

This paper presents an MPC (Model Predictive Control) based consensus algorithm which solves a consensus problem in which constraints are imposed on the increment of the state of each agent. After making an artificial consensus trajectory using a previously designed consensus algorithm, the MPC is used to make the agent track the consensus trajectory. Simulation results demonstrate the effectiveness of the proposed algorithm.

Original language	English
Pages (from-to)	952-957
Number of pages	6
Journal	International Journal of Control, Automation and Systems
Volume	9
Issue number	5
DOIs	https://doi.org/10.1007/s12555-011-0516-5
State	Published - Oct 2011

Keywords

Consensus problem
MPC tracking
Multi-agent systems

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10.1007/s12555-011-0516-5

Cite this

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title = "A constrained consensus problem using MPC",

abstract = "This paper presents an MPC (Model Predictive Control) based consensus algorithm which solves a consensus problem in which constraints are imposed on the increment of the state of each agent. After making an artificial consensus trajectory using a previously designed consensus algorithm, the MPC is used to make the agent track the consensus trajectory. Simulation results demonstrate the effectiveness of the proposed algorithm.",

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AB - This paper presents an MPC (Model Predictive Control) based consensus algorithm which solves a consensus problem in which constraints are imposed on the increment of the state of each agent. After making an artificial consensus trajectory using a previously designed consensus algorithm, the MPC is used to make the agent track the consensus trajectory. Simulation results demonstrate the effectiveness of the proposed algorithm.

KW - Consensus problem

KW - MPC tracking

KW - Multi-agent systems

UR - https://www.scopus.com/pages/publications/84862950338

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DO - 10.1007/s12555-011-0516-5

M3 - Article

AN - SCOPUS:84862950338

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VL - 9

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EP - 957

JO - International Journal of Control, Automation and Systems

JF - International Journal of Control, Automation and Systems

IS - 5

ER -

A constrained consensus problem using MPC

Abstract

Keywords

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