Event-based model Predictive control for the cooperation of distributed agents

Alina Eqtami, Dimos V. Dimarogonas, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper proposes an event-based framework for the control of a team of cooperating distributed agents. The agents are dynamically decoupled and they are controlled locally by Nonlinear Model Predictive Controllers (NMPC). The event-driven framework allows for triggering the solution of the optimal control problem of the NMPC only when it is needed. The scheduling of the control updates for each of the agents depends on an error of the state information received from the neighboring agents. Sufficient conditions for triggering are provided and the results are illustrated through a simulated example.

Original languageEnglish (US)
Title of host publication2012 American Control Conference, ACC 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781457710957
StatePublished - 2012
Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
Duration: Jun 27 2012Jun 29 2012

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2012 American Control Conference, ACC 2012
CityMontreal, QC

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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