Tube-based coalitional model predictive control for tracking

This work explores a coalitional control approach for input-coupled multi-agent systems to robustly track changing setpoints. In this partially cooperative framework, agents can share a public portion of their input with neighboring agents while keeping the remainder private. Negotiations over the bounds defining the public and private input sets can be triggered on demand. Additionally, coupling disturbances are addressed using a tube-based approach, guiding the system towards desired target points. The effectiveness of the proposed approach is demonstrated through its application to a simulated eight-input coupled tank benchmark.