Discrete Laguerre-based model predictive control for dynamic consensus of a vehicle platoon with time delay

Abstract

Dynamic consensus of linear time-invariant multi-agent systems (MASs) using distributed model predictive control under the influence of input delay is addressed in this technical note. Model predictive control (MPC) is well suited to solve the consensus problem with its ability to handle multivariable systems and constraints. However, the increased computational complexity of MPC restricts its area of applications. An attempt to bridge this gap is made by proposing a Laguerre-based MPC design to bring down the computational load and make it viable for implementation. The effect of input delay on consensus is examined and the stability margin of a MAS with input delay is computed using the location of the closed-loop poles. A comparison of the proposed algorithm with conventional MPC establishes its superiority in convergence time, robustness to input delay and smoothness of the trajectories. The effectiveness of the proposed design is validated through the simulation of dynamic consensus on the benchmark problem of platoon configuration of vehicles.

Abbreviations DLQR: discrete linear quadratic regulator; DMPC: distributed model predictive control; LMI: linear matrix inequality; LTI: linear time invariant; SISO: single-input single-output; MAS: multi-agent system; MIMO: multi-input multi-output; MPC: model predictive control

Keywords:

• Distributed model predictive control
• dynamic consensus
• input delay
• Laguerre functions
• multi-agent systems

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Notes on contributors

R. Resmi

R. Resmi received B.Tech. degree in Electrical and Electronics Engineering in 2005 and M. Tech. degree in Industrial Instrumentation and Control in 2011, from the University of Kerala, Kerala, India. Currently she is pursuing PhD from National Institute of Technology Calicut, Kozhikode, India. Her research interests include co-operative control of multi-agent systems, time-delayed systems and model predictive control.

S. J. Mija

S. J. Mija received B.Tech. degree in Electrical and Electronics Engineering and M. Tech. degree in Guidance and Navigational Control from the University of Kerala, Kerala, India, in 2000 and 2002, respectively, and the Ph.D. degree in Electrical Engineering from National Institute of Technology Calicut, Kozhikode, India, in 2014. Currently, she is an Assistant Professor with the Department of Electrical Engineering, National Institute of Technology Calicut. Her current research interests include analysis and control of nonlinear systems, flight control systems, sliding mode control, biologically inspired controllers, etc.

Jeevamma Jacob

Jeevamma Jacob received B.Sc. Engineering degree from M. A. College of Engineering, Kerala University, India, M. Tech. degree from National Institute of Technology Calicut, India and Ph.D degree from Indian Institute of Technology, Bombay, India in 1994. She is working as a Professor in National Institute of Technology Calicut, India. Her research interests include nonlinear and digital control systems, control of multi-agent systems, optimal and robust control etc.