Cloud-based predictive formation control of networked multi-agent system and its application to air bearing spacecraft simulators✩

被引：14
作者：
Cao, Lei [1 ]
Liu, Guo-Ping [1 ,2 ]
Zhang, Da -Wei [1 ]
机构：
[1] Harbin Inst Technol, Ctr Control Theory & Guidance Technol, Harbin 150001, Peoples R China
[2] Southern Univ Sci & Technol, Ctr Control Sci & Technol, Shenzhen 518055, Peoples R China
来源：
ISA TRANSACTIONS | 2023年 / 138卷
基金：
中国国家自然科学基金;
关键词：
Networked multi-agent systems; Predictive formation control; Cloud-based control; Stability and consensus; Air-bearing spacecraft; CONSENSUS; INDUSTRY;
D O I：
10.1016/j.isatra.2023.03.013
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper studies a class of networked multi-agent systems with communication delays. A centralized cloud predictive control protocol is proposed to realize formation control of multiple agents and especially the predictive method is introduced to actively compensate for the delays in the network. The analysis of closed-loop networked multi-agent systems provides the necessary and sufficient condition of stability and consensus. Finally, the proposed cloud-based predictive formation control scheme is verified by its application to 3-degree-of-freedom air-bearing spacecraft simulators platform. The results show that the scheme can effectively compensate for the delays in the forward channel and the feedback channel and can be applied to the networked multi-agent systems well. & COPY; 2023 ISA. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：696 / 704
页数：9
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