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Distributed real-time non-linear receding horizon control methodology for multi-agent consensus problems

机译：多智能体共识问题的分布式实时非线性后退视界控制方法

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This work investigates the consensus problem for multi-agent nonlinear systems through the real-time nonlinear receding horizon control methodology. A scheme is developed to reach the consensus for nonlinear multi-agent systems under fixed directed/undirected graph(s) without any linearization technique. The problem of consensus is converted into an optimization problem and is directly solved by the backwards sweep Riccati method to generate the control protocol which is a non-iterative algorithm. Stability analysis is conducted to provide convergence guarantees. An extension to the leader-following consensus problem of nonlinear systems is presented. Several examples are provided to validate the effectiveness of the, presented scheme. (C) 2016 Elsevier Masson SAS. All rights reserved.
机译：这项工作通过实时非线性后退水平控制方法研究了多智能体非线性系统的共识问题。开发了一种在没有任何线性化技术的情况下，在固定有向/无向图下实现非线性多智能体系统共识的方案。共识问题转化为优化问题，并通过后向扫描Riccati方法直接解决，以生成非迭代算法的控制协议。进行稳定性分析以提供收敛保证。提出了非线性系统的前导跟随共识问题的扩展。提供了一些示例来验证所提出方案的有效性。 （C）2016 Elsevier Masson SAS。版权所有。

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