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

控制理论(社会学) 观察员(物理) 模型预测控制 计算机科学 理论(学习稳定性) 电信网络 控制(管理) 多智能体系统 丢番图方程 同步(交流) 控制工程 工程类 数学 人工智能 频道(广播) 物理 机器学习 离散数学 电信 量子力学 计算机网络
作者
Dawei Zhang,Shuai Liu
出处
期刊:Isa Transactions [Elsevier BV]
卷期号:147: 554-566 被引量:3
标识
DOI:10.1016/j.isatra.2024.01.021
摘要

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.
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