CINECA IRIS Institutional Research Information System
IRIS è la soluzione IT che facilita la raccolta e la gestione dei dati relativi alle attività e ai prodotti della ricerca. Fornisce a ricercatori, amministratori e valutatori gli strumenti per monitorare i risultati della ricerca, aumentarne la visibilità e allocare in modo efficace le risorse disponibili.
EnglishIn this paper we address the problem of driving a group of agents towards a consensus point when agents have a discrete-time integrator dynamics and the communication graph is time-varying. We propose two decentralized Model Predictive Control (MPC) schemes that take into account constraints on the agents’ inputs and show that they guarantee consensus under mild assumptions. Since the global cost does not decrease monotonically, it cannot be used as a Lyapunov function for proving convergence to consensus. Rather, our proofs exploit geometric properties of the optimal path followed by individual agents.
Scheda prodotto non validato
Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo
| Titolo: | Model predictive control schemes for consensus in multi-agent systems with integrator dynamics and time-varying communication |
| Autori: | |
| Data di pubblicazione: | 2007 |
| Abstract: | In this paper we address the problem of driving a group of agents towards a consensus point when agents have a discrete-time integrator dynamics and the communication graph is time-varying. We propose two decentralized Model Predictive Control (MPC) schemes that take into account constraints on the agents’ inputs and show that they guarantee consensus under mild assumptions. Since the global cost does not decrease monotonically, it cannot be used as a Lyapunov function for proving convergence to consensus. Rather, our proofs exploit geometric properties of the optimal path followed by individual agents. |
| Handle: | http://hdl.handle.net/11571/33687 |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
File in questo prodotto:
Copyright © 2020