RHC-Based Consensus of Multi-Agent Systems with Simultaneous Packet Dropout and Input Delay

XU Juanjuan1, ZHANG Zhaorong2

1. 1. School of Control Science and Engineering, Shandong University, Jinan 250061, China;
2. School of Electrical Engineering and Computer Science, University of Newcastle, Callaghan, NSW 2308, Australia
• Received:2020-10-19 Revised:2021-06-24 Online:2022-08-25 Published:2022-08-02
• Supported by:
This work was supported by the National Natural Science Foundation of China under Grant Nos. 61633014, 61922051, U1806204, 61873332, U1701264, the Foundation for Innovative Research Groups of National Natural Science Foundation of China under Grant No. 61821004, and Youth Innovation Group Project of Shandong University under Grant No. 2020QNQT016, Science and Technology Project of Qingdao West Coast New Area (2019-32, 2020-20, 2020-1-4), High-level Talent Team Project of Qingdao West Coast New Area (RCTD-JC-2019- 05) and Key Research and Development Program of Shandong Province under Grant No. 2020CXGC01208.

XU Juanjuan, ZHANG Zhaorong. RHC-Based Consensus of Multi-Agent Systems with Simultaneous Packet Dropout and Input Delay[J]. Journal of Systems Science and Complexity, 2022, 35(4): 1262-1277.

This paper is concerned with the multi-agent systems with both packet dropout and input delay. A novel receding horizon control (RHC) based consensus protocol is proposed by solving a distributed RHC based optimization problem. The novelty of the optimization problem lines in the involvement of the neighbours' predictor information in the cost functions. Based on the derived RHC based consensus protocol, the necessary and sufficient condition for the mean-square consensus is obtained. In addition, the authors give a specific sufficient condition to guarantee the mean-square consensus.
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