Data-Driven Distributed Predictive Tracking Control for Heterogeneous Nonlinear Multiagent Systems With Communication Delays

• 成果类型: Article
• 署名作者: Huang, Yi; Liu, Guo-Ping; Yu, Yi; Hu, Wenshan
• 署名单位: Wuhan University; Southern University of Science & Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3357529
• 发表日期: 2024
• 页码: 4786-4792
• 关键词: Delays; Predictive control; Multi-agent systems; predictive models; nonlinear dynamical systems; communication networks; Vehicle dynamics; Communication delays; Data-driven control; distributed predictive control; Networked control; nonlinear multiagent systems

摘要

This article focuses on the consensus and tracking problem of nonlinear multiagent systems under communication delays, and proposes a distributed predictive control scheme, which is independent of the system model and able to actively compensate for communication delays. First, a consensus-related auxiliary variable and its corresponding estimator are innovatively designed to provide a globally consistent value. Then, the idea of dynamic linearization is adopted to obtain the equivalent linear dynamics of nonlinear agents. Furthermore, a distributed predictive controller is designed with the help of the auxiliary variables and the acquired time-varying linear system model. Compared with the existing schemes, the proposed controller compensates for the delayed signals in an active way, makes the traditional model-based predictive control method get rid of the dependence on the accurate system model, and carries out the rolling prediction in a distributed form. A stability analysis of the closed-loop system is given to illustrate the generality of the designed method. Finally, a numerical simulation verifies the effectiveness of the proposed method.