Abstract
This article investigates the problem of data-driven cooperative tracking for a class of multi-agent linear systems under imperfect wireless communication. An autonomous Internet of Things predictive control application is designed to drive a robot with one wheel. The proposed methodology has been developed using Revolutionary Internet of Things Operating System running on STM32 and radio frequency communication shields over the User Datagram Protocol. To evaluate the performance of the predictive control algorithm, the User Datagram Protocol has been used due to the high number of packet losses in the communication channel. A robust analysis of Internet of Things technology among agents, combined with a network predictive control strategy against packet loss, limited bandwidth and attack links is carried out. The main feature of this methodology is that it is possible to achieve consensus monitoring and stability of closed-loop control systems. The efficiency of the proposed design approach is demonstrated by several experimental scenarios.
Published Version
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