Consensus of the multi-agent systems with dynamic event-triggered predictive control
GAO Xiang-yu
FU Dong-fei
MENG Hao-fei
ZHANG Ling
Abstract：In this paper,a consensus problem is studied for a group of linear agents with input constraints and state constraints.To address the problem of frequent communication between agents and regular update of information between decentralized controllers,the dynamic event-triggered control mechanism(DETC)and the dual-mode model predictive control principles(MPC)are integrated to formulate the distributed consensus control protocols,i.e.DETC-MPC.Under this control strategy,the agents can meet the constraints on system states and inputs when they are steered to reach consensus with an exponential convergence rate.Both of the feasibility of local MPC optimization and the stability of resultant closed-loop system are guaranteed.Meanwhile,a minimum inter-event time is ensured between any two consecutive triggering instants and thus no agent exhibits Zeno behavior.To avoid continuous verification of event-triggering condition,a non-periodic and non-persistent method is designed to check triggering conditions.The numerical simulation shows the effectiveness of the proposed DETC-MPC.
Keywords：multi-agent systemsconsensusdynamic event triggeringmodel predictive controladaptive algorithm
Publication Date：2025-12-30
Online Publishing Date：2026-03-05(First online date of this platform, not the publication date of the document)
Pages：11( 2398-2408 )