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Journal of Control Science and Engineering
Volume 2012 (2012), Article ID 313716, 8 pages
Research Article

Distributed Model Predictive Control of the Multi-Agent Systems with Improving Control Performance

College of Automation, Chongqing University, Chongqing 400044, China

Received 8 October 2011; Revised 22 December 2011; Accepted 19 January 2012

Academic Editor: Yugeng Xi

Copyright © 2012 Wei Shanbi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper addresses a distributed model predictive control (DMPC) scheme for multiagent systems with improving control performance. In order to penalize the deviation of the computed state trajectory from the assumed state trajectory, the deviation punishment is involved in the local cost function of each agent. The closed-loop stability is guaranteed with a large weight for deviation punishment. However, this large weight leads to much loss of control performance. Hence, the time-varying compatibility constraints of each agent are designed to balance the closed-loop stability and the control performance, so that the closed-loop stability is achieved with a small weight for the deviation punishment. A numerical example is given to illustrate the effectiveness of the proposed scheme.