Coordinated control of distributed multi-agent systems using event-triggered predictive control strategy

In this paper, the coordinated control problem for a class of distributed networked multi-agent systems (NMASs) is studied. An event-triggered predictive coordinated control (ETPCC) scheme is proposed to compensate for the communication delay between controllers as well as to reduce the communication frequency. With the aim of reducing the frequency of data transfer among controllers and saving resources, a distributed event-triggered condition is designed to decide when to transfer information. Further, a cost function using predicted values is proposed to measure the cooperative performance among the agents, and the required control increment for each agent is obtained by minimizing the cost function. Simulation and experimental examples show that the proposed ETPCC strategy works effectively.