Model Predictive Flocking Control of the Cucker-Smale Multi-Agent Model With Input Constraints

Hai‐Tao Zhang; Bin Liu; Zhaomeng Cheng; Guanrong Chen

doi:10.1109/tcsi.2016.2564702

Model Predictive Flocking Control of the Cucker-Smale Multi-Agent Model With Input Constraints

IEEE Transactions on Circuits and Systems I Regular Papers 63(8): 1265-1275

Article 2016 English

Abstract

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This paper develops a model predictive flocking control scheme for the Cucker-Smale multi-agent model with input constraints. A decentralized controller is designed based only on neighboring measurements. Connectivity conditions are established for guaranteeing the convergence to a rigid flock. Finally, numerical simulation demonstrates the effectiveness of the control scheme.

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