Distributed Fixed-Time Consensus of Discrete-Time Heterogeneous Multi-Agent Systems via Predictive Mechanism and Lyapunov Approach

In this brief, we investigate the fixed-time consensus of discrete-time heterogeneous multi-agent systems with model predictive control. Stability conditions are derived through Lyapunov functions, and the settling time independent of initial conditions is obtained. Based on the sufficient stability conditions, a distributed model predictive controller is designed by optimizing the consensus problem. Numerical examples are conducted to showcase the validity of the derived theoretical results and the effectiveness of the designed controller.