文章基本信息

标题：Input Delay Compensation in Multi-Agent Systems via Piecewise Constant Control
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作者：Anton Ponomarev ; Hai-Tao Zhang
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：10
页码：153-156
DOI：10.1016/j.ifacol.2016.07.511
语种：English
出版社：Elsevier
摘要：AbstractWe consider a multi-agent system with time-invariant topology containing several agents governed by similar linear time-invariant ODEs with constant delay in actuation. Piecewise constant (PWC) control with sampling time larger than the delay value is applied. Assuming the delay-free version of the system can be brought to consensus by the PWC feedback, we design a predictive PWC feedback achieving consensus in the system with delayed input. During prediction, PWC structure is employed to determine future input to the system from its past output. This input is then used to predict the future state and compensate for the delay.
关键词：KeywordsLinear control systemsmulti-agent systemssampling controldelay compensationpredictive control