On Neighbor Information Utilization in Distributed Receding Horizon Control for Consensus-Seeking

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Abstract

This paper investigates the issue on how to utilize neighbor information in the distributed receding horizon control (RHC)-based consensus problem for first-order multiagent systems. The distributed RHC-based consensus problem is first formulated in a general framework in terms of using neighbor information. Based on the framework, a sufficient condition on utilizing neighbor information to ensure consensus is developed for the finite horizon case. For the infinite horizon case, a necessary and sufficient condition is proposed, and the best way of using neighbor information to achieve fastest convergence rate is also presented. It is shown that: 1) the way of utilizing neighbor information plays an important role in reaching consensus; 2) the parameter that ensures consensus is related with the network topology; and 3) the best convergence rate in consensus can be attained if the neighbor information is appropriately utilized. Simulation studies verify the proposed theoretical results.

Original languageEnglish
Article number7332783
Pages (from-to)2019-2027
Number of pages9
JournalIEEE Transactions on Cybernetics
Volume46
Issue number9
DOIs
StatePublished - Sep 2016

Keywords

  • Consensus
  • distributed systems
  • multiagent systems
  • neighbor information
  • optimization
  • receding horizon control (RHC)

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