Nonlinear Consensus Strategies for Multi-Agent Networks in Presence of Communication Delays and Switching Topologies: Real-Time Receding Horizon Approach
Abstract
This paper presents a novel framework which combines a non-iterative solution of Real-Time Nonlinear Receding Horizon Control (NRHC) methodology to achieve consensus within complex network topologies with existing time-delays and in presence of switching topologies. In this formulation, we solve the distributed nonlinear optimization problem for multi-agent network systems directly, in real-time, without any dependency on iterative processes, where the stability and convergence guarantees are provided for the solution. Three benchmark examples on non-linear chaotic systems provide validated results which demonstrate the significant outcomes of such methodology.
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