Motion Coordination for a Class of Multi-Agents via Networked Predictive Control  

作　　者：ZHANG Tian-Yong YOU Bo LIU Guo-Ping 

机构地区：[1]School of Automation,Harbin University of Science and Technology,Harbin 150080,China [2]School of Engineering,University of South Wales,Pontypridd,CF371DL,UK [3]The CTGT Center,School of Astronautics,Harbin Institute of Technology,Harbin 150001,China

出　　处：《Journal of Systems Science & Complexity》2020年第3期622-639,共18页系统科学与复杂性学报（英文版）

基　　金：supported by the Natural Science Foundation of Heilongjiang Province under Grant No.LH2019F025;the Fundamental Research Fundation for Universities of Heilongjiang Province under Grant No.LGYC2018JC010。

摘　　要：The motion coordination formation control problem for a class of non-linear system is considered in this paper,where networked induced time-delays exist in the feedback channel of each agent and in communication channels between agents.As a foundation work,a coordination formation controller in discrete-time domain that without time-delay is provided firstly.Based on the above results,a motion coordination predictive formation control strategy as well as its detail implementation processes are proposed to actively compensate the time-delays.Stability analysis and simulation results are provided to demonstrate the feasibility and effectiveness of the proposed predictive strategy.

关 键 词：Formation control motion coordination networked predictive control TIME-DELAYS wheeled mobile robots 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]