Abstract
This chapter presents a distributed control protocol with predictive information to solve the ultra-fast formation control problem of high-order, discrete-time multi-agent systems. Firstly, based on the local neighbor-error information, a multistep regulation-error predictive algorithm is established. By predicting the dynamics of a network several steps ahead and adding the predictive information into the control strategy, a novel ultra-fast formation control protocol with self-feedback term is proposed. Compared with the routine formation control protocol, the asymptotic convergence factor, which determines the convergence speed, is improved by a power of q + 1. It is not difficult to see that the bigger the value for q is, the faster the convergence speed is. Secondly, some sufficient conditions for ultra-fast controller design are given herein, and they decouple the design of the synchronizing gains from the detailed graph properties, and explicitly reveal how the agent dynamic and the communication graph jointly affect ultra-fast formationability of high-order, discrete-time multi-agent systems. Finally, some simulations are worked out to illustrate the effectiveness of our theoretical results.
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Acknowledgments
This article was published in ISA Transactions, Vol 58, Wenle Zhang, Jianchang Liu, and Honghai Wang, Ultra-fast formation control of high-order discrete-time multi-agent systems based on multi-step predictive mechanism, 165–172, Copyright Elsevier (2015).
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Zhang, W., Liu, J., Wang, H. (2022). Ultra-Fast Formation Control of High-Order, Discrete-TimeMulti-Agent Systems Based on Multistep PredictiveMechanism. In: Tian, YC., Levy, D.C. (eds) Handbook of Real-Time Computing. Springer, Singapore. https://doi.org/10.1007/978-981-287-251-7_36
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DOI: https://doi.org/10.1007/978-981-287-251-7_36
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