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 language | English |
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Article number | 7332783 |
Pages (from-to) | 2019-2027 |
Number of pages | 9 |
Journal | IEEE Transactions on Cybernetics |
Volume | 46 |
Issue number | 9 |
DOIs | |
State | Published - Sep 2016 |
Keywords
- Consensus
- distributed systems
- multiagent systems
- neighbor information
- optimization
- receding horizon control (RHC)