A leader-follower formation strategy for networked multi-agent systems based on the PI predictive control method
Lei Cao, Shuai Liu, Dawei Zhang · 2021
In this paper, the formation control problem of a class of multi-agent systems with communication constraints is studied. A proportional integral predictive control strategy for the leader-follower architecture is proposed. In this strategy, the PI predictive controller of the agent is presented, and the control inputs of the agent are obtained by optimizing the cost function of the coordination control between the leader and follower agents in the network. The active compensation for communication constraints is realized to guarantee the formation consensus under the leader-follower framework by using predictive term. Numerical examples show that the proposed control strategy is effective.