arXiv subjects

Shibo Han

Publications and source records attributed to Shibo Han.

3 recordsLinked to original sources

arXiv2026

Output Consensus on Periodic References for Constrained Multi-agent Systems Under a Switching Network

This work addresses the output consensus problem of constrained heterogeneous multi-agent systems under a switching network with potential communication delays, where outputs are periodic and characterized by an exosystem. Since periodic references have more complex dynamics, it is more challenging to track periodic references and achieve consensus on them. In this paper, a model predictive control method incorporating an artificial reference and a modified cost function is proposed to track periodic references, which maintains recursive feasibility even when references switch. Moreover, consensus protocols are proposed to achieve consensus on periodic references in different scenarios, in which global information such as the set of globally admissible references and the global time index are not involved. Theoretical analysis proves that constrained output consensus is asymptotically achieved with the proposed algorithm as the references of each agent converge and agents track their references while maintaining constraint satisfaction. Finally, numerical examples are provided to verify the effectiveness of the proposed algorithm.

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arXiv2025

Model Predictive Control for Tracking Bounded References With Arbitrary Dynamics

In this article, a model predictive control (MPC) method is proposed for constrained linear systems to track bounded references with arbitrary dynamics. Besides control inputs to be determined, artificial reference is introduced as additional decision variable, which serves as an intermediate target to cope with sudden changes of reference and enlarges domain of attraction. Cost function penalizes both artificial state error and reference error, while terminal constraint is imposed on artificial state error and artificial reference. We specify the requirements for terminal constraint and cost function to guarantee recursive feasibility of the proposed method and asymptotic stability of tracking error. Then, periodic and non-periodic references are considered and the method to determine required cost function and terminal constraint is proposed. Finally, the efficiency of the proposed MPC controller is demonstrated with simulation examples.

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arXiv2024

Robust Model Predictive Control for Constrained Uncertain Systems Based on Concentric Container and Varying Tube

This paper proposes a novel robust model predictive control (RMPC) method for the stabilization of constrained systems subject to additive disturbance (AD) and multiplicative disturbance (MD). Concentric containers are introduced to facilitate the characterization of MD, and varying tubes are constructed to bound reachable states. By restricting states and the corresponding inputs in containers with free sizes and a fixed shape, feasible MDs, which are the products of model uncertainty with states and inputs, are restricted into polytopes with free sizes. Then, tubes with different centers and shapes are constructed based on the nominal dynamics and the knowledge of AD and MD. The free sizes of containers allow for a more accurate characterization of MD, while the fixed shape reduces online computational burden, making the proposed method less conservative and computationally efficient. Moreover, the shape of containers is optimized to further reduce conservativeness. Compared to the RMPC method using homothetic tubes, the proposed method has a larger region of attraction while involving fewer decision variables and constraints in the online optimization problem.

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