Coordinated Control of High-Order Fully Actuated Multiagent Systems and Its Application: A Predictive Control Strategy

This research is devoted to the coordinated control of high-order fully actuated multiagent systems (HOFA-MASs). A predictive control strategy is developed to realize the coordination of HOFA-MASs and simultaneous stability and output consensus. In this strategy, a Diophantine equation is introduced to construct an incremental HOFA prediction model rather than a reduced-order one, then a cost function focused on coordinated relationship is minimized by the design of predictive control such that the optimal coordination controllers can be achieved with simple and easy computation. Further discussion derives a simple criterion to guarantee the simultaneous stability and output consensus of the closed-loop HOFA-MASs. Two experiments of formation control of three air-bearing simulators are given to demonstrate the availability of the predictive control strategy.

Automated summary

This research is focused on the coordinated control of high-order fully actuated multi-agent systems (HOFA-MASs). A predictive control strategy is developed to achieve coordination, stability, and output consensus in HOFA-MASs. By introducing a Diophantine equation, an incremental HOFA prediction model is constructed, and a cost function is minimized through predictive control design to obtain optimal coordination controllers with simple computation. A simple criterion is derived to guarantee simultaneous stability and output consensus in the closed-loop HOFA-MASs. Two experiments on the formation control of three air-bearing simulators demonstrate the effectiveness of the predictive control strategy.