A constrained consensus problem using MPC

  • Jinyoung Lee
  • Jung-Su KimEmail author
  • Hwachang Song
  • Hyungbo Shim
Technical Notes and Correspondence


This paper presents an MPC (Model Predictive Control) based consensus algorithm which solves a consensus problem in which constraints are imposed on the increment of the state of each agent. After making an artificial consensus trajectory using a previously designed consensus algorithm, the MPC is used to make the agent track the consensus trajectory. Simulation results demonstrate the effectiveness of the proposed algorithm.


Consensus problem MPC tracking multi-agent systems 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg  2011

Authors and Affiliations

  • Jinyoung Lee
    • 1
  • Jung-Su Kim
    • 2
    Email author
  • Hwachang Song
    • 2
  • Hyungbo Shim
    • 1
  1. 1.ASRI, School of Electrical Engineering and Computer ScienceSeoul National University, KwanakSeoulKorea
  2. 2.Dept. of Control and Instrumentation Eng. and Dept. of Electrical Eng., respectivelySeoul National University of Science and TechnologySeoulKorea

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