Proportional Integral Predictive Control of High-Order Fully Actuated Networked Multiagent Systems With Communication Delays
针对高阶全驱动网络化多智能体系统在通信延迟下的协同控制问题，提出一种比例积分预测控制方案，通过局部PI反馈和Diophantine方程建立增量预测模型，实现延迟补偿和最优协同控制，并用气浮仿真器实验验证有效性。
This research is devoted to the cooperative control of high-order fully actuated networked multiagent systems (HOFA-NMASs) with communication delays between network node and sensors, and network node and actuators. A proportional integral (PI) predictive control scheme is developed to effectively implement the cooperation among HOFA-NMASs and actively compensate the communication delays. In this scheme, a local PI feedback controller is applied to stabilize the closed-loop nominal HOFA-NMASs, then a Diophantine equation is presented to establish an incremental HOFA prediction model rather than a reduced-order one, so that the optimization of cost function considered cooperative performance and the compensation of communication delays are completed via multistep output predictions, thus the optimal cooperative controllers are constructed. The further discussion provides a simple condition of simultaneous stability and output consensus of closed-loop HOFA-NMASs, which is easy to verify and extend in practice and is independent on communication delays. An experiment of formation control of air-bearing simulators is shown to prove the availability of the proposed PI predictive control scheme.