Asynchronous Distributed Model Predictive Control for Multi-Agent Systems
This paper primarily focuses on the asynchronous cooperation control problem of multi-agent systems with external disturbances. Here, all agents take control actions, such as sampling measurements, computing control inputs, and exchanging information based on their individual clocks rather than a gl...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10820326/ |
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| author | Xiaoxiao Mi Yuanjiang Liao Hongzheng Zeng |
| author_facet | Xiaoxiao Mi Yuanjiang Liao Hongzheng Zeng |
| author_sort | Xiaoxiao Mi |
| collection | DOAJ |
| description | This paper primarily focuses on the asynchronous cooperation control problem of multi-agent systems with external disturbances. Here, all agents take control actions, such as sampling measurements, computing control inputs, and exchanging information based on their individual clocks rather than a global synchronized clock. Owing to the asynchronous nature, the information of each agent received by all its neighbors at the same time instant may be different and deviate from what this agent predicts, potentially resulting in poor decision-making and even instability. To ensure stability, dynamic compatibility constraints related to all the uncertain deviations are established and incorporated into the optimization problem. Additionally, the constraint restriction method is employed to satisfy physical constraints and optimize performance in the presence of external perturbations. Then, an asynchronous distributed model predictive control with a dual-mode strategy is developed and sufficient conditions on the design parameters are constructed to ensure recursive feasibility and system stability. Finally, simulation experiments on a multiple-vehicle system with asynchronous control actions are carried out to validate the theoretical results. |
| format | Article |
| id | doaj-art-c3dbe2341ceb430ebe0079e42a10760a |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-c3dbe2341ceb430ebe0079e42a10760a2025-01-21T00:01:58ZengIEEEIEEE Access2169-35362025-01-01139592960510.1109/ACCESS.2025.352548710820326Asynchronous Distributed Model Predictive Control for Multi-Agent SystemsXiaoxiao Mi0https://orcid.org/0009-0002-2579-6095Yuanjiang Liao1Hongzheng Zeng2https://orcid.org/0000-0002-6692-6936Robotics Institute, Ningbo University of Technology, Ningbo, ChinaRobotics Institute, Ningbo University of Technology, Ningbo, ChinaKey Laboratory of Flight Techniques and Flight Safety, Civil Aviation Administration of China, Civil Aviation Flight University of China, Mianyang, ChinaThis paper primarily focuses on the asynchronous cooperation control problem of multi-agent systems with external disturbances. Here, all agents take control actions, such as sampling measurements, computing control inputs, and exchanging information based on their individual clocks rather than a global synchronized clock. Owing to the asynchronous nature, the information of each agent received by all its neighbors at the same time instant may be different and deviate from what this agent predicts, potentially resulting in poor decision-making and even instability. To ensure stability, dynamic compatibility constraints related to all the uncertain deviations are established and incorporated into the optimization problem. Additionally, the constraint restriction method is employed to satisfy physical constraints and optimize performance in the presence of external perturbations. Then, an asynchronous distributed model predictive control with a dual-mode strategy is developed and sufficient conditions on the design parameters are constructed to ensure recursive feasibility and system stability. Finally, simulation experiments on a multiple-vehicle system with asynchronous control actions are carried out to validate the theoretical results.https://ieeexplore.ieee.org/document/10820326/Asynchronous samplingcooperative controldistributed model predictive controlformation controlmulti-agent system |
| spellingShingle | Xiaoxiao Mi Yuanjiang Liao Hongzheng Zeng Asynchronous Distributed Model Predictive Control for Multi-Agent Systems IEEE Access Asynchronous sampling cooperative control distributed model predictive control formation control multi-agent system |
| title | Asynchronous Distributed Model Predictive Control for Multi-Agent Systems |
| title_full | Asynchronous Distributed Model Predictive Control for Multi-Agent Systems |
| title_fullStr | Asynchronous Distributed Model Predictive Control for Multi-Agent Systems |
| title_full_unstemmed | Asynchronous Distributed Model Predictive Control for Multi-Agent Systems |
| title_short | Asynchronous Distributed Model Predictive Control for Multi-Agent Systems |
| title_sort | asynchronous distributed model predictive control for multi agent systems |
| topic | Asynchronous sampling cooperative control distributed model predictive control formation control multi-agent system |
| url | https://ieeexplore.ieee.org/document/10820326/ |
| work_keys_str_mv | AT xiaoxiaomi asynchronousdistributedmodelpredictivecontrolformultiagentsystems AT yuanjiangliao asynchronousdistributedmodelpredictivecontrolformultiagentsystems AT hongzhengzeng asynchronousdistributedmodelpredictivecontrolformultiagentsystems |