Predictive Control for High-Order Fully Actuated Systems

This chapter investigates the basic problems on the predictive control for nonlinear and linear HOFASs. A HOFAS theory-based predictive control, called the HOFAS predictive control, is proposed to achieve the desired tracking control performance. A highlight is that an incremental prediction model in the HOFAS form, named as an incremental HOFAS (IHOFAS) prediction model, can be constructed by applying a type of Diophantine Equation to replace a reduced-order prediction model, such that the predictive control law can be designed and represented within the framework of the HOFAS theory, which provides a methodology foundation for the predictive cooperative control design of the HOFAMASs.