Observer-Based Incremental Predictive Control of Networked Multi-Agent Systems With Random Delays and Packet Dropouts

Abstract

This brief addresses the cooperative output tracking control problem for a linear heterogeneous networked multi-agent system with random network-induced delays and packet dropouts in the feedback channel of each agent, which consists of one leader agent and multiple following agents. To compensate for adverse effects of those random communication constraints, an incremental networked predictive control scheme based on state observers is proposed. A necessary and sufficient condition is derived for the stability of the resulting closed-loop system, which is independent of random communication constraints. Experimental results on a networked multi-motor control test rig show the effectiveness and applicability of the proposed scheme, including a feature that zero steady-state output tracking errors can be achieved even for the case with plant-model mismatch.