Output Consensus of Heterogeneous Multi-agent System via Model Predictive Control with Large Feasible Domain

This work shows an approach to achieve output consensus among heterogeneous agents in a multi-agent environment where each agent is an uncertain linear system subject to input and state constraints. The communication among agents is described by a time-varying directed graph with bounded communication delays. The approach relies on achieving consensus among the references of the agents and that each agent has a Model Predictive controller (MPC) that tracks piecewise constant references asymptotically. Since only the reference contains diffusive terms from its neighbors, the approach has a larger feasible domain than approaches that use diffusive terms in the control. Examples are provided to illustrate the advantages of the approach.