Observer-based HOFA predictive cooperative control for networked multi-agent systems under time-variant communication constraints

Zhang，Da Wei1; Liu，Guo Ping1,2

2024

10.1016/j.isatra.2024.01.021

ISA Transactions   影响因子和分区

0019-0578

This research focuses on a cooperative control problem for networked multi-agent systems (NMASs) under time-variant communication constraints (containing time-variant communication delays and time-variant data losses) in the forward and feedback channels. From the perspective of high-order fully actuated (HOFA) system theory, a HOFA system model is adopted to describe the NMAS, which is called the networked HOFA multi-agent system (NHOFAMAS). Because of complicated working scenarios over the network, the states of NMASs are immeasurable and the communication constraints are always present, such that an observer-based HOFA predictive control (OB-HOFAPC) method is designed to implement the cooperative control when existing the immeasurable states and time-variant communication constraints. In this method, a HOFA observer is established to estimate the immeasurable states for constructing a consensus control protocol. Then, an incremental prediction model (IPM) in a HOFA form is developed via a Diophantine equation to take the place of a reduced-order prediction model. Through this IPM, multi-step output ahead predictions are derived to optimize the cooperative control performance and compensate for time-variant communication constraints in real-time. The depth discussion gives a sufficient and necessary criterion to analyze the simultaneous consensus and stability for closed-loop NHOFAMASs. The capability and advantage of OB-HOFAPC method are illustrated via numerical simulation and experimental verification on a cooperative flying-around task of three air-bearing spacecraft simulators.

Cooperative control Flying-around of three air-bearing spacecraft simulators Networked multi-agent systems OB-HOFA predictive control Simultaneous consensus and stability Time-variant communication constraints

SCI ; EI

英语

其他

ENGINEERING

2-s2.0-85183200312

Scopus

1.Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin,150001,China
2.Center for Control Science and Technology,Southern University of Science and Technology,Shenzhen,518055,China

Zhang，Da Wei,Liu，Guo Ping. Observer-based HOFA predictive cooperative control for networked multi-agent systems under time-variant communication constraints[J]. ISA Transactions,2024.

Zhang，Da Wei,&Liu，Guo Ping.(2024).Observer-based HOFA predictive cooperative control for networked multi-agent systems under time-variant communication constraints.ISA Transactions.

Zhang，Da Wei,et al."Observer-based HOFA predictive cooperative control for networked multi-agent systems under time-variant communication constraints".ISA Transactions (2024).