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

Zhang，Da Wei1; Liu，Guo Ping2; Cao，Lei1

2022

10.1109/TMECH.2022.3156587

IEEE/ASME Transactions on Mechatronics   影响因子和分区

1941-014X

1941-014X

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.

Coordinated control formation control of air-bearing simulators high-order fully actuated (HOFA) multiagent systems (MASs) (HOFA-MASs) predictive control simultaneous stability and output consensus

SCI ; EI

英语

其他

National Natural Science Foundation of China["62173255","62188101"]

Automation & Control Systems ; Engineering

Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical

WOS:000934571800013

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

ENGINEERING

IEEE

1.Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001 China.
2.Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001 China, and also with the Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen 518055 China.

Zhang，Da Wei,Liu，Guo Ping,Cao，Lei. Coordinated Control of High-Order Fully Actuated Multiagent Systems and Its Application: A Predictive Control Strategy[J]. IEEE/ASME Transactions on Mechatronics,2022,PP(99):1-11.

Zhang，Da Wei,Liu，Guo Ping,&Cao，Lei.(2022).Coordinated Control of High-Order Fully Actuated Multiagent Systems and Its Application: A Predictive Control Strategy.IEEE/ASME Transactions on Mechatronics,PP(99),1-11.

Zhang，Da Wei,et al."Coordinated Control of High-Order Fully Actuated Multiagent Systems and Its Application: A Predictive Control Strategy".IEEE/ASME Transactions on Mechatronics PP.99(2022):1-11.