Output consensus of heterogeneous linear MASs by self-triggered MPC scheme

In this paper, a self-triggered Model Predictive Control (MPC) scheme is proposed to solve the output consensus problem of heterogeneous linear Multi-agent Systems (MASs). First, a self-triggered condition is designed to determine the time for solving optimization problem of each agent. Then, a self-triggered MPC scheme is built. The scheme not only formulates the aperiodic control form, but also avoids the design of observers for each agent compared with conventional method. On the whole, the communication load and actuator burden can be reduced. Zeno behavior is excluded by detailed analysis. Moreover, parameters selection of the cost function is introduced and analysis of the scheme feasibility is conducted. Sufficient conditions are developed to guarantee the scheme feasibility. Finally, some simulation examples are given to demonstrate the effectiveness of the scheme.