Coordinated Control of High-Order Fully Actuated Multiagent Systems and Its Application: A Predictive Control Strategy

This research is devoted to the coordinated control of high-order fully actuated multiagent systems (HOFA-MASs). A predictive control strategy is developed to realize the coordination of HOFA-MASs and simultaneous stability and output consensus. In this strategy, a Diophantine equation is introduced to construct an incremental HOFA prediction model rather than a reduced-order one, then a cost function focused on coordinated relationship is minimized by the design of predictive control such that the optimal coordination controllers can be achieved with simple and easy computation. Further discussion derives a simple criterion to guarantee the simultaneous stability and output consensus of the closed-loop HOFA-MASs. Two experiments of formation control of three air-bearing simulators are given to demonstrate the availability of the predictive control strategy.