Data-Driven Distributed Predictive Tracking Control for Heterogeneous Nonlinear Multi-Agent Systems With Communication Delays

Huang，Yi1; Liu，Guo Ping2; Yu，Yi2; Hu，Wenshan1

2024

10.1109/TAC.2024.3357529

IEEE Transactions on Automatic Control   影响因子和分区

0018-9286

1558-2523

This paper focuses on the consensus and tracking problem of nonlinear multi-agent systems under communication delays, and proposes a distributed predictive control scheme which is independent of the system model and able to actively compensate for communication delays. First, a consensus-related auxiliary variable and its corresponding estimator are innovatively designed to provide a globally consistent value. Then, the idea of dynamic linearization is adopted to obtain the equivalent linear dynamics of nonlinear agents. Furthermore, a distributed predictive controller is designed with the help of the auxiliary variables and the acquired time-varying linear system model. Compared with the existing schemes, the proposed controller compensates for the delayed signals in an active way, makes the traditional model-based predictive control method get rid of the dependence on the accurate system model, and carries out the rolling prediction in a distributed form. A stability analysis of the closed-loop system is given to illustrate the generality of the designed method. Finally, a numerical simulation verifies the effectiveness of the proposed method.

communication delays Communication networks data-driven control Delays distributed predictive control Multi-agent systems networked control Nonlinear dynamical systems nonlinear multi-agent systems Predictive control Predictive models Vehicle dynamics

SCI ; EI

英语

其他

20240615488534

Closed loop systems ; Controllers ; Data communication systems ; Dynamical systems ; Linear systems ; Model predictive control ; Networked control systems ; Nonlinear dynamical systems ; Numerical methods ; Vehicle to vehicle communications

Radio Systems and Equipment:716.3 ; Control Systems:731.1 ; Control System Applications:731.2 ; Control Equipment:732.1 ; Mathematics:921 ; Numerical Methods:921.6 ; Systems Science:961

ENGINEERING

2-s2.0-85184023800

Scopus

1.School of Electrical Engineering and Automation, Wuhan University, Wuhan, China
2.Center for Control Science and Technology, Southern University of Science and Technology, Shenzhen, China

Huang，Yi,Liu，Guo Ping,Yu，Yi,et al. Data-Driven Distributed Predictive Tracking Control for Heterogeneous Nonlinear Multi-Agent Systems With Communication Delays[J]. IEEE Transactions on Automatic Control,2024,PP(99):1-8.

Huang，Yi,Liu，Guo Ping,Yu，Yi,&Hu，Wenshan.(2024).Data-Driven Distributed Predictive Tracking Control for Heterogeneous Nonlinear Multi-Agent Systems With Communication Delays.IEEE Transactions on Automatic Control,PP(99),1-8.

Huang，Yi,et al."Data-Driven Distributed Predictive Tracking Control for Heterogeneous Nonlinear Multi-Agent Systems With Communication Delays".IEEE Transactions on Automatic Control PP.99(2024):1-8.