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Nonlinear MPC of Time-Varying Delay Discrete-Time Heterogeneous Multi-agent Systems Using Lyapunov–Krasovskii Approach

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Abstract

This paper deals with Lyapunov-based Model Predictive Control (MPC) for solving the consensus problem of a class of discrete-time heterogeneous multi-agent systems. The agents consist of nonlinear functions and time-varying delay. In this regard, a comprehensive model that represents the dynamic equations of all agents is introduced. Then, an optimization problem is defined by selecting an appropriate cost function and the control vector is set as a state feedback control law. In this regard, a Lyapunov-based constraint is explored in the procedure of the MPC method to derive the conditions for the consensus. The consensus protocol and feedback gain of the state feedback control law are obtained through the solution of linear matrix inequalities which are extracted by considering the appropriate Lyapunov–Krasovskii functional. Finally, to emphasize the validity and applicability of the designed algorithm, one numerical and two practical examples are simulated.

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Data availability statement

The data that support the findings of this study are available from the corresponding author upon reasonable request.

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  1. Department of Electrical and Electronic Engineering, Shiraz University of Technology, Modares Boulevard, P.O. Box 71555-313, Shiraz, Iran

    N. Rahimi & T. Binazadeh

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  1. N. Rahimi
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  2. T. Binazadeh
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Correspondence to T. Binazadeh.

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Rahimi, N., Binazadeh, T. Nonlinear MPC of Time-Varying Delay Discrete-Time Heterogeneous Multi-agent Systems Using Lyapunov–Krasovskii Approach. Circuits Syst Signal Process 42, 2606–2634 (2023). https://doi.org/10.1007/s00034-022-02236-8

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