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Cloud-based predictive formation control of networked multi-agent system and its application to air bearing
Lei Cao1, Guo-Ping Liu2, Da-Wei Zhang1
1Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China.
ISA Transactions
|March 20, 2023
Summary
This study introduces a cloud-based predictive control protocol to manage networked multi-agent systems with communication delays, ensuring stability and consensus for formation control tasks.
Area of Science:
- Robotics and Control Systems
- Networked Systems Engineering
- Distributed Artificial Intelligence
Background:
- Networked multi-agent systems often face challenges due to communication delays.
- Achieving stable formation control in such systems requires robust compensation strategies.
Purpose of the Study:
- To propose a centralized cloud predictive control protocol for networked multi-agent systems.
- To actively compensate for communication delays using a predictive method.
- To establish conditions for stability and consensus in closed-loop systems.
Main Methods:
- Development of a centralized cloud predictive control protocol.
- Introduction of a predictive method to counteract network-induced delays.
- Analysis of closed-loop networked multi-agent systems to derive stability and consensus conditions.
Main Results:
- The proposed scheme effectively compensates for delays in both forward and feedback communication channels.
- Necessary and sufficient conditions for system stability and consensus were determined.
- Successful application demonstrated on a 3-degree-of-freedom air-bearing spacecraft simulators platform.
Conclusions:
- The cloud-based predictive formation control scheme is effective for networked multi-agent systems.
- The predictive control strategy successfully mitigates the impact of communication delays.
- The approach ensures reliable formation control and consensus among agents.
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