In this paper, we study optimal control and communication schedule co-design for multi-agent networked control systems, with assuming shared parallel communication channels and uncertain constrained linear time-invariant discrete-time systems. To that end, we specify the communication demand for each system using an associated robust control invariant set and reachability analysis. We use these communication demands and invariant sets to formulate tube-based model predictive control and offline/online communication schedule co-design problems. Since the scheduling part includes an infinite dimension integer problem, we propose heuristics to find suboptimal solutions that guarantee robust constraints satisfaction and recursive feasibility. The effectiveness of our approach is illustrated through numerical simulations.

中文翻译：

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约束多智能体网络控制系统的最优调度与控制

在本文中，我们研究了多智能体网络控制系统的最优控制和通信调度协同设计，假设共享并行通信通道和不确定约束线性时不变离散时间系统。为此，我们使用相关的鲁棒控制不变集和可达性分析来指定每个系统的通信需求。我们使用这些通信需求和不变集来制定基于管的模型预测控制和离线/在线通信调度协同设计问题。由于调度部分包括一个无限维整数问题，我们提出启发式方法来找到保证鲁棒约束满足和递归可行性的次优解决方案。通过数值模拟说明了我们方法的有效性。