G. Ferrari-Trecate, L. Galbusera, M.P.E. Marciandi, and R. Scattolini. Contractive distributed mpc for consensus in networks of single- and double-integrators. 17th IFAC World Congress on Automatic Control , 2008. Seoul, Korea, 6-11 July.
In this paper we propose an application of distributed modelpredictive control techniques to the problem of driving a group ofautonomous agents towards a consensus point, i.e. anegotiated position in their state space. Agents are assumed to begoverned by discrete-time single- or double-integrator dynamicsand the communication network can be directed and time-varying.Our control protocols are called contractive due to a specificconstraint imposed on the agents' state path. Consensus isformally proven, also in presence of bounds on the norm of theinputs, by means of a geometrical analysis of the optimal paths.