Distributed incremental model predictive control for safe formation control of multiagent systems
Defeng He, Xiaoduo Zhao, Jianbin Mu · Asian Journal of Control · 2025
Abstract This paper proposes a distributed incremental model predictive control (DIMPC) algorithm for safe and efficient formation control of constrained multiagent systems. The formation problem is firstly formulated in the virtual structure framework. Then an incremental parameterization is elegantly designed to reduce the computational burden of the optimization problem of MPC. To guarantee the safety of each agent in the formation, an on‐demand collision avoidance/obstacle strategy is presented using the predictability of MPC. Moreover, the weighted norm of the predicted state increments is added to the cost function to improve control performance and some linear matrix inequalities are derived to guarantee the stability of the multiagent with DIMPC. Comparative simulations verify the reliability and advantages of the proposed algorithm in terms of online computational efficiency and control performance.