Abstract
The motion coordination formation control problem for a class of non-linear system is considered in this paper, where networked induced time-delays exist in the feedback channel of each agent and in communication channels between agents. As a foundation work, a coordination formation controller in discrete-time domain that without time-delay is provided firstly. Based on the above results, a motion coordination predictive formation control strategy as well as its detail implementation processes are proposed to actively compensate the time-delays. Stability analysis and simulation results are provided to demonstrate the feasibility and effectiveness of the proposed predictive strategy.
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This paper was supported by the Natural Science Foundation of Heilongjiang Province under Grant No. LH2019F025, and the Fundamental Research Fundation for Universities of Heilongjiang Province under Grant No. LGYC2018JC010.
This paper was recommended for publication by Editor JIA Yingmin.
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Zhang, TY., You, B. & Liu, GP. Motion Coordination for a Class of Multi-Agents via Networked Predictive Control. J Syst Sci Complex 33, 622–639 (2020). https://doi.org/10.1007/s11424-020-8122-3
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DOI: https://doi.org/10.1007/s11424-020-8122-3