A self-triggered Model Predictive Control framework for the cooperation of distributed nonholonomic agents

In this paper we propose a decentralized Model Predictive Control (MPC) framework with a self-triggering mechanism, for a team of cooperating agents. The nonholonomic agents are controlled locally and exchange information with their neighbors. The aim at scheduling the control updates based on a self-triggering criterion is twofold: to reduce the updates of the control law for each agent and to reduce the communication effort between the agents. The input-to-state (abbr. ISS) stability of the agents is proven, the condition for triggering is provided and the theoretic results are then depicted by a simulated example.