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Volume 9 Issue 4
Apr.  2022

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2022  >  9(4): 615-623
G.-P. Liu, “Coordination of networked nonlinear multi-agents using a high-order fully actuated predictive control strategy,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 4, pp. 615–623, Apr. 2022. doi: 10.1109/JAS.2022.105449
Citation: G.-P. Liu, “Coordination of networked nonlinear multi-agents using a high-order fully actuated predictive control strategy,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 4, pp. 615–623, Apr. 2022. doi: 10.1109/JAS.2022.105449
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Coordination of Networked Nonlinear Multi-Agents Using a High-Order Fully Actuated Predictive Control Strategy

doi: 10.1109/JAS.2022.105449

  • Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen 518055, China

Funds:  This work was supported in part by the National Natural Science Foundation of China (62173255, 62188101)
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    Abstract
  • This paper is concerned with the coordinative control problem of networked nonlinear multi-agents (NNM) with communication delays. A high-order fully actuated (HOFA) model is introduced to describe the nonlinear multi-agents. Based on this model, a HOFA predictive coordination method is proposed to compensate for the communication delays actively and achieve simultaneous stability and consensus. This method largely simplifies the design of networked nonlinear multi-agents and makes the control performance be same for networked nonlinear multi-agents with and without communication delays. The analysis on the closed-loop systems derives the simultaneous stability and consensus criteria of networked nonlinear multi-agents using the HOFA predictive coordination method. With the presented way of designing HOFA predictive coordination controllers, a simulated example demonstrates the advantages of the proposed method.

     

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    Highlights

    • A high-order fully actuated predictive coordination method is proposed for multi-agents.
    • The proposed method compensates for communication constraints actively.
    • The simultaneous stability and consensus criteria of nonlinear multi-agents are derived.

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