Cooperative constrained control of distributed agents with nonlinear dynamics and delayed information exchange: A stabilizing receding-horizon approach

被引：120

作者：

Franco, Elisa ^{[1
]}

Magni, Lalo ^{[2
]}

Parisini, Thomas ^{[3
]}

Polycarpou, Marios M. ^{[4
]}

Raimondo, Davide M. ^{[2
]}

机构：

[1] CALTECH, Dept Control & Dynam Syst, Pasadena, CA 91125 USA

[2] Univ Pavia, Dept Comp Sci & Syst, I-27100 Pavia, Italy

[3] Univ Trieste, Dept Elect Elect & Comp Engn, I-34127 Trieste, Italy

[4] Univ Cyprus, Dept Elect & Comp Engn, CY-1678 Nicosia, Cyprus

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2008年 / 53卷 / 01期

关键词：

constrained systems; cooperative control; model predictive control; nonlinear systems; receding-horizon control;

D O I：

10.1109/TAC.2007.914956

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the problem of cooperative control of a team of distributed agents with decoupled nonlinear discrete-time dynamics, which operate in a common environment and exchange-delayed information between them. Each agent is assumed to evolve in discrete-time, based on locally computed control laws, which are computed by exchanging delayed state information with a subset of neighboring agents. The cooperative control problem is formulated in a receding-horizon framework, where the control laws depend on the local state variables (feedback action) and on delayed information gathered from cooperating neighboring agents.(feedforward action). A rigorous stability analysis exploiting the input-to-state stability properties of the receding-horizon local control laws is carried out. The stability of the team of agents is then proved by utilizing small-gain theorem results.

引用

页码：324 / 338

页数：15

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