Coordination of Networked Nonlinear Multi-Agents Using a High-Order Fully Actuated Predictive Control Strategy  

作　　者：Guo-Ping Liu 

机构地区：[1]IEEE [2]the Department of Electronic and Electrical Engineering,Southern University of Science and Technology

出　　处：《IEEE/CAA Journal of Automatica Sinica》2022年第4期615-623,共9页自动化学报（英文版）

基　　金：supported in part by the National Natural Science Foundation of China(62173255,62188101)。

摘　　要：This paper is concerned with the coordinative control problem of networked nonlinear multi-agents(NNM)with communication delays.A high-order fully actuated(HOFA)model is introduced to describe the nonlinear multi-agents.Based on this model,a HOFA predictive coordination method is proposed to compensate for the communication delays actively and achieve simultaneous stability and consensus.This method largely simplifies the design of networked nonlinear multi-agents and makes the control performance be same for networked nonlinear multi-agents with and without communication delays.The analysis on the closed-loop systems derives the simultaneous stability and consensus criteria of networked nonlinear multiagents using the HOFA predictive coordination method.With the presented way of designing HOFA predictive coordination controllers,a simulated example demonstrates the advantages of the proposed method.

关 键 词：method NONLINEAR COORDINATION 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]