Robust distributed MPC for disturbed nonlinear multi-agent systems based on a mixed differential–integral event-triggered mechanism

Abstract

The cooperation of multi-agent systems (MAS) based on distributed model predictive control (DMPC) is a current research hotspot, and how to more effectively handle additive disturbances and reduce resource consumption are two difficult problems that need to be solved. In view of this, this paper aims to design a more effective DMPC strategy for MAS, so as to effectively deal with the above problems without loss of the control performance. Firstly, a finite-horizon constrained optimization problem is established for MAS, in which a robustness constraint is designed to effectively handle additive disturbances. Then, a new efficient event-triggering condition is designed, which is established by considering the mixed information of differential and integral of the state error. Furthermore, based on the dual-mode control, an event-triggered robust DMPC algorithm is proposed to further reduce the resource consumption of the system. In addition, theoretical results are provided through analysis and deduction to ensure the iterative feasibility of the algorithm, stability of the closed-loop system and Zeno-free behavior. Finally, the proposed algorithm is applied to two examples for simulation and comparison to verify its effectiveness. The simulation results show that compared to DMPC and classical event-triggered DMPC methods, the proposed algorithm can reduce the average resource consumption of MAS by more than 81% and 36%, respectively, which indicates that the proposed strategy can effectively reduce the computation and communication burden of MAS without affecting the control performance.

Keywords

• Multi-agent systems
• Distributed model predictive control
• Additive disturbance
• Event-triggering condition