Journal
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
Volume 53, Issue 2, Pages 801-812Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2022.3188504
Keywords
Delays; Predictive control; Mathematical models; Predictive models; Stability criteria; Observers; Multi-agent systems; Communication delays; cooperative control; formation control of air-bearing simulators; high-order fully actuated networked multiagent systems (HOFA-NMASs); proportional integral (PI) predictive control; simultaneous stability and output consensus
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This research focuses on the cooperative control of high-order fully actuated networked multiagent systems with communication delays. A proportional integral predictive control scheme is developed to achieve cooperation among the systems and compensate for the delays. The study also provides a simple condition to verify the stability and output consensus of the closed-loop systems.
This research is devoted to the cooperative control of high-order fully actuated networked multiagent systems (HOFA-NMASs) with communication delays between network node and sensors, and network node and actuators. A proportional integral (PI) predictive control scheme is developed to effectively implement the cooperation among HOFA-NMASs and actively compensate the communication delays. In this scheme, a local PI feedback controller is applied to stabilize the closed-loop nominal HOFA-NMASs, then a Diophantine equation is presented to establish an incremental HOFA prediction model rather than a reduced-order one, so that the optimization of cost function considered cooperative performance and the compensation of communication delays are completed via multistep output predictions, thus the optimal cooperative controllers are constructed. The further discussion provides a simple condition of simultaneous stability and output consensus of closed-loop HOFA-NMASs, which is easy to verify and extend in practice and is independent on communication delays. An experiment of formation control of air-bearing simulators is shown to prove the availability of the proposed PI predictive control scheme.
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