Cooperative Tracking Control of Networked Multiagent Systems: A Dual-Prediction Plus Correction Approach

Abstract

This article addresses the cooperative tracking control problem of linear discrete-time heterogeneous networked multiagent systems suffering from random communication constraints. The communication constraints, including random network delays and packet losses, exist in the forward and feedback channels of each agent as well as the channels between agents. A dual-prediction-based cooperative control scheme with correction is proposed. Specifically, a dual-prediction generator is developed to compensate actively for the adverse effects of random communication constraints in the three communication channels. Besides, a correction item is introduced to ensure that the predicted value tends to the actual value. A novel cooperative tracking control law with proportional and integral action is designed for each agent. A sufficient condition is obtained for the derived closed-loop system to maintain stability. Comparative experimental results on a networked three-motor system demonstrate the effectiveness of the proposed method.