Leader Follower Distributed Consensus Control of Heterogeneous Multi-agent System with Model Predictive Control

Abstract

This paper focuses on leader-follower distributed positional consensus control for the heterogeneous multi-agent system(HMAS). HMAS is a group of autonomous agents modelled by heterogeneous dynamics. A heterogeneous multi-agent system having multiple numbers of quadrotor and two-wheeled mobile robots (2WMR) are considered here. The leader in the MAS will decide consensus position, whereas other agents follow the leader agent. The model predictive controller is used to control the position of the quadrotor, and the Lyapunov stability theory-based cascaded controller is used for 2WMR position control. Fixed directed communication topology is deployed to communicate between agents. Simulation results using algebraic graph theory reveals that the proposed method is well suited for ensuring the consensus of the HMAS.