Abstract
This paper addresses the cooperative output tracking control problem for a class of leader-following linear heterogeneous networked multi-agent systems subject to random network delays and packet dropouts in the feedback and forward channels of each agent. A state observer is established at the plant side of each agent, and an event-triggering transmission mechanism is introduced to decide which state estimate is transmitted to the corresponding controller so as to save the network resources of the feedback channel. To further compensate for the negative effects of those random communication constraints and the event trigger, a cooperative predictive control scheme with proportional and integral actions is proposed. Then, a necessary and sufficient condition is derived for the stability of the resulting closed-loop system. Finally, simulation results are given to show the effectiveness of the proposed scheme.
Highlights
In the last few decades, the cooperative control of networked multi-agent systems (NMASs) composed of multiple agents communicating with each other through networks has a very wide practical application in various fields, for example, satellite formation [1], multiple unmanned aerial vehicles [2], and mobile robots [3]
In practical applications, the introduction of networks inevitably leads to communication constraints between multiple agents and within agents, such as random network delays and packet dropouts [9,10]
In this paper, an event-triggered networked predictive control method is proposed for the cooperative output tracking problem of a linear heterogeneous NMAS
Summary
In the last few decades, the cooperative control of networked multi-agent systems (NMASs) composed of multiple agents communicating with each other through networks has a very wide practical application in various fields, for example, satellite formation [1], multiple unmanned aerial vehicles [2], and mobile robots [3]. In practical applications, the introduction of networks inevitably leads to communication constraints between multiple agents and within agents, such as random network delays and packet dropouts [9,10]. For NPC methods of NMASs in [15–22], a state observer is usually established and placed at the controller side of each agent, which needs to transmit a packet composed of multiple system outputs at the current time instant and previous time instants to the controller through the feedback channel of each agent. In this paper, an event-triggered networked predictive control method is proposed for the cooperative output tracking problem of a linear heterogeneous NMAS with random network delays and packet dropouts in the feedback and forward channels of each agent.
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