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In this paper, we propose a new consensus protocol in the form of distributed model predictive control (DMPC) in order to deal with the consensus problem of first-order discrete-time multi-agent systems. Equivalent form of general numerical solution of DMPC is presented by solving optimization problem, and necessary and sufficient convergence conditions of our proposed DMPC are obtained by using the...
Event-triggered consensus problem is studied for a class of heterogeneous first-order multi-agent system, which contains multiple single integrators with different nominal velocities, and an adaptive consensus algorithm in the leader-following structure is adopted. Under the event-triggered mechanism, the agents’ inputs are only updated at discrete times determined by a centralized event-triggered...
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