Predictive Pinning Control with Communication Delays for Consensus of Multi-Agent Systems

Koichi KOBAYASHI  

Publication
IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E102-A   No.2   pp.359-364
Publication Date: 2019/02/01
Online ISSN: 1745-1337
DOI: 10.1587/transfun.E102.A.359
Type of Manuscript: Special Section PAPER (Special Section on Mathematical Systems Science and its Applications)
Category: 
Keyword: 
consensus,  model predictive control (MPC),  multi-agent systems,  pinning control,  

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Summary: 
In this paper, based on the policy of model predictive control, a new method of predictive pinning control is proposed for the consensus problem of multi-agent systems. Pinning control is a method that the external control input is added to some agents (pinning nodes), e.g., leaders. By the external control input, consensus to a certain target value (not the average of the initial states) and faster consensus are achieved. In the proposed method, the external control input is calculated by the controller node connected to only pinning nodes. Since the states of all agents are required in calculation of the external control input, communication delays must be considered. The proposed algorithm includes not only calculation of the external control input but also delay compensation. The effectiveness of the proposed method is presented by a numerical example.