Consensus problem for multi-agent systems: A distributed receding horizon approach

This paper considers the problem of consensus for multi-agent systems. Based on receding horizon approach, a distributed control algorithm is proposed. And this algorithm is formulated such that it solves as solving the optimal control problem, in which the cost functions are coupled the dynamic of each interacting agent. The communication requirements between agents are that each agent should obtain the previous optimal control states of its neighbors to each update time. The receding horizon approach stability is guaranteed by adding a terminal-state penalty to the cost function and a terminal-state region to the optimal control problem. Finally, simulation results are provided to verify the effectiveness of the proposed approach.