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Published on: December 13, 2016
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.
Abstract:
This paper studies a class of networked multi-agent systems with communication delays. A centralized cloud predictive control protocol is proposed to realize formation control of multiple agents and especially the predictive method is introduced to actively compensate for the delays in the network. The analysis of closed-loop networked multi-agent systems provides the necessary and sufficient condition of stability and consensus. Finally, the proposed cloud-based predictive formation control scheme is verified by its application to 3-degree-of-freedom air-bearing spacecraft simulators platform. The results show that the scheme can effectively compensate for the delays in the forward channel and the feedback channel and can be applied to the networked multi-agent systems well.
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