Design and stability analysis of cooperative receding-horizon control of linear discrete-time agents

摘要

This paper considers the problern of designing cooperative control algorithms for a tearn of distributed agents operating towards achieving a global performance objective. Each agent is assurned to evolve according to certain discrete-time, linear dynamics and to exchange delayed state information with a subset of neighbouring or cooperating agents. The control design fomulation is based oil the definition of a finite-horizon cost function that includes both the regulation and cooperation objectives. The cooperative control problern is formulated in a receding-horizon framework, where the control law can be explicitly broken tip in two cornponents: one due to feedback frorn the local state variables and the other based on delayed information gathered from cooperating neighbouring agents. The stability and performance analysis of the overall systern is carried out and simulation results are used to illustrate the effectiveness of the proposed control scheme. Copyright (C) 2006 John Wiley & Sons, Ltd.