Neighbour-based Synchronous Distributed Receding Horizon Control for Multi-agent Systems

This paper addresses the distributed receding horizon control (DRHC) for multi-agent systems with neighbourhood cooperation. The agents are coupled in the cost function and the physical constraints. The proposed approach is based on the synchronous framework, so only assumed predictive information is available for local controllers. In order to improve the global system performance, a neighbour-based DRHC strategy is proposed. The performance index involving each agent and its neighbours is optimized to determine the control input. By applying the proposed DRHC approach, the recursive feasibility and exponential stability of global system are guaranteed. An example is provided to verify the effectiveness of the result.