Consensus in networked multi-agent systems via model predictive control with horizon one
Jingyuan Zhan, Xiang Li · 2013
This paper addresses the problem of consensus by using the model predictive control (MPC) with horizon one. We propose centralized and distributed MPC consensus protocols, and prove that both of them asymptotically solve the consensus problem. We also give numerical examples to show that the convergence speed can be significantly increased by simply adjusting the parameter in the MPC consensus protocols.