A distributed predictive formation control strategy for cyber-physical multi-agent systems under communication constraints

Cao，Lei1,2; Zhang，Da Wei1; Ionescu，Clara Mihaela2; Liu，Guo Ping1,3

2023-09-01

10.1016/j.ins.2023.119092

Information Sciences   影响因子和分区

0020-0255

1872-6291

This paper focuses on the formation control problem under communication constraints for leader-follower cyber-physical multi-agent systems (CPMASs). The introduction of a leader-follower structure motivates the design of a distributed predictive formation control (DPFC) protocol for CPMASs, which features active compensation for constraints in the network with the aim of achieving formation consensus and stability. The cost functions are designed separately for leader and followers, enabling the output coordination of the leader and followers under the consideration of the formation configuration. The necessary and sufficient condition for stability and consensus is derived through the detailed analysis of closed-loop CPMASs with DPFC scheme. The control performance of the designed DPFC scheme is validated by the presented numerical simulations, which is extended to a formation control experiment of three-degree-of-freedom air-bearing-simulator (ABS) systems.

Communication constraints Cyber-physical system Leader-follower formation MAS Predictive control

SCI ; EI

英语

其他

China Scholarship Council[202106120083];National Natural Science Foundation of China[62173255];National Natural Science Foundation of China[62188101];

Computer Science

Computer Science, Information Systems

WOS:001001101900001

ELSEVIER SCIENCE INC

20231914076385

Cost functions ; Degrees of freedom (mechanics) ; Embedded systems ; Multi agent systems

Optimization Techniques:921.5 ; Mechanics:931.1

COMPUTER SCIENCE

2-s2.0-85158833219

Scopus

1.Department of Control Science and Engineering,Harbin Institute of Technology,Harbin,150001,China
2.Dynamical Systems and Control Research Group,Department of Electromechanical,Systems and Metal Engineering,Ghent University,Ghent,9052,Belgium
3.Center for Control Science and Technology,Southern University of Science and Technology,Shenzhen,518055,China

Cao，Lei,Zhang，Da Wei,Ionescu，Clara Mihaela,et al. A distributed predictive formation control strategy for cyber-physical multi-agent systems under communication constraints[J]. Information Sciences,2023,641.

Cao，Lei,Zhang，Da Wei,Ionescu，Clara Mihaela,&Liu，Guo Ping.(2023).A distributed predictive formation control strategy for cyber-physical multi-agent systems under communication constraints.Information Sciences,641.

Cao，Lei,et al."A distributed predictive formation control strategy for cyber-physical multi-agent systems under communication constraints".Information Sciences 641(2023).