Event-Driven Cooperative Predictive Control Of Networked Multi-Agent Systems

In recent decades,cooperative control of networked multi-agent systems(NMASs)composed of multiple agents communicating with each other through network has been widely applied in various fields,such as satellite formation,multi-UAV,mobile robot and so on.Most of the research focuses on cooperative output tracking control for NMASs under ideal communication conditions.However,in practical applications,the introduction of network inevitably leads to communication constraints among and within multiple agents,such as random network delays and packet dropouts.These communication constraints not only affect the control performance of the system,but also seriously damage the closed-loop stability of NMASs.For a class of master-slave linear discrete heterogeneous NMASs,this paper mainly addresses two communication constraints cases,namely,random network delays and packet losses in the feedback channel and forward channel of each agent,and random network delays and packet losses in the feedback channel and forward channel of each agent and among agents.The event trigger and NPC methods are effectively combined to design a corresponding control scheme,which solves the problem of cooperative output tracking control and communication constraints.The main work of this paper is as follows:(1)For the multi-agent system under ideal communication conditions,an eventdriven multi-agent cooperative output tracking control scheme is proposed by combining the state observer and event trigger effectively,which not only compensates for the negative impact of the event trigger,but also zero steady-state error tracking is achieved,then the sufficient and necessary conditions for the stability of the closed-loop system are given.Finally,the effectiveness of the scheme is verified by simulation results.(2)For a class of linear discrete heterogeneous NMASs,random network delays and packet losses are taken into account in the feedback channel and forward channel of each agent,based on the control scheme in(1),a networked cooperative predictive control scheme for NMASs is devised,and then,the sufficient and necessary conditions of the closed-loop system stability are given.Finally,the simulation results verify that the proposed method can make the agent achieve good tracking effect.(3)For a class of linear discrete heterogeneous NMASs,random network delays and packet losses are considered between the feedback channel and forward channel of each agent and among agents,after improving the control scheme in(2),a networked multi-agent cooperative predictive control scheme with correction function is designed,and the effectiveness of the scheme is verified by simulation experiment.