Predictive suboptimal consensus of multiagent systems with nonlinear dynamics

Yinyan Zhang, Shuai Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

53 Citations (Scopus)


In this paper, a unified framework is proposed for designing distributed control laws to achieve the consensus of linear and nonlinear multiagent systems. The consensus problem is formulated as a receding-horizon dynamic optimization problem with an integral-Type performance index subject to the dynamics of the considered multiagent system. Different from conventional optimal control that solves Hamilton-Jacobian-Bellman equation numerically in high dimensions, we present a suboptimal solution with analytical expressions by utilizing Taylor expansion for prediction along time and give the corresponding distributed control law in an explicit form. Theoretical analysis shows that the proposed control laws can guarantee exponential and asymptotical stability of the multiagent systems. It is also proved that the proposed suboptimal control laws tend to be optimal with time. Illustrative examples are also presented to validate the efficacy of the proposed distributed control laws and the theoretical results.

Original languageEnglish
Article number7864460
Pages (from-to)1701-1711
Number of pages11
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number7
Publication statusPublished - 1 Jul 2017


  • Consensus
  • Multiagent system
  • Nonlinear dynamics
  • Optimal control
  • Predictive control

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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