Event-driven MPC for leader-follower nonlinear multi-agent systems

Yang Xu; Yuan Yuan; Huaping Liu

doi:10.1109/ICARM.2018.8610731

Event-driven MPC for leader-follower nonlinear multi-agent systems

Yang Xu, Yuan Yuan, Huaping Liu

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, we propose a model predictive control (MPC) method, which is on the basis of event-driven, for a tracking scheme of a leader-follower nonlinear multi-agent system (MAS) limited to input constraints and disturbances. An event-driven condition is designed for each follower such that each follower updates its states at trigger instants. By the designed event-driven scheme, a MPC method is proposed to implement the tracking scheme. Recursive feasibility and practical stability are ensured simultaneously by devising a robust terminal region as well as appropriate parameters for each follower. At last, an example on satellites is provided to validate the validity of the presented approach.

Original language	English
Title of host publication	ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	526-531
Number of pages	6
ISBN (Electronic)	9781538670668
DOIs	https://doi.org/10.1109/ICARM.2018.8610731
State	Published - 11 Jan 2019
Externally published	Yes
Event	3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018 - Singapore, Singapore Duration: 18 Jul 2018 → 20 Jul 2018

Publication series

Name	ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics

Conference

Conference	3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018
Country/Territory	Singapore
City	Singapore
Period	18/07/18 → 20/07/18

Keywords

Event-driven mechanism
model predictive control (M-PC)
multi-agent system (MAS)
tracking scheme

Access to Document

10.1109/ICARM.2018.8610731

Cite this

Xu, Y., Yuan, Y., & Liu, H. (2019). Event-driven MPC for leader-follower nonlinear multi-agent systems. In ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics (pp. 526-531). Article 8610731 (ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM.2018.8610731

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abstract = "In this paper, we propose a model predictive control (MPC) method, which is on the basis of event-driven, for a tracking scheme of a leader-follower nonlinear multi-agent system (MAS) limited to input constraints and disturbances. An event-driven condition is designed for each follower such that each follower updates its states at trigger instants. By the designed event-driven scheme, a MPC method is proposed to implement the tracking scheme. Recursive feasibility and practical stability are ensured simultaneously by devising a robust terminal region as well as appropriate parameters for each follower. At last, an example on satellites is provided to validate the validity of the presented approach.",

keywords = "Event-driven mechanism, model predictive control (M-PC), multi-agent system (MAS), tracking scheme",

author = "Yang Xu and Yuan Yuan and Huaping Liu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018 ; Conference date: 18-07-2018 Through 20-07-2018",

year = "2019",

month = jan,

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doi = "10.1109/ICARM.2018.8610731",

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series = "ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics",

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Xu, Y, Yuan, Y & Liu, H 2019, Event-driven MPC for leader-follower nonlinear multi-agent systems. in ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics., 8610731, ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics, Institute of Electrical and Electronics Engineers Inc., pp. 526-531, 3rd IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2018, Singapore, Singapore, 18/07/18. https://doi.org/10.1109/ICARM.2018.8610731

Event-driven MPC for leader-follower nonlinear multi-agent systems. / Xu, Yang; Yuan, Yuan; Liu, Huaping.
ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2019. p. 526-531 8610731 (ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Xu Y, Yuan Y, Liu H. Event-driven MPC for leader-follower nonlinear multi-agent systems. In ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics. Institute of Electrical and Electronics Engineers Inc. 2019. p. 526-531. 8610731. (ICARM 2018 - 2018 3rd International Conference on Advanced Robotics and Mechatronics). doi: 10.1109/ICARM.2018.8610731

Event-driven MPC for leader-follower nonlinear multi-agent systems

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