Model Predictive Flocking Control of the Cucker-Smale Multi-Agent Model With Input Constraints
Hai‐Tao Zhang, Bin Liu, Zhaomeng Cheng, Guanrong Chen · IEEE Transactions on Circuits and Systems I Regular Papers · 2016
This paper develops a model predictive flocking control scheme for the Cucker-Smale multi-agent model with input constraints. A decentralized controller is designed based only on neighboring measurements. Connectivity conditions are established for guaranteeing the convergence to a rigid flock. Finally, numerical simulation demonstrates the effectiveness of the control scheme.