Event-triggered distributed predictive control for the cooperation of multi-agent systems

This study investigates the problem of event-triggered distributed predictive control (DPC) for multi-agent systems. To guarantee the stability of overall system, a constraint relevant to the triggering instant is imposed in the DPC optimisation problem, and the corresponding event-triggering condition with the information received from neighbouring agents is derived based on the input-to-state stability (ISS). In such a framework, the DPC optimisation problem is solved only when the triggering condition is satisfied, which reduces the communication consumption and lowers the computational load. Moreover, the recursive feasibility of DPC optimisation problem is proved and the sufficient conditions for ensuring the ISS of overall system are developed. Finally, a simulation example is provided to illustrate the effectiveness of the presented method.