Predictive Cooperative Control for HOFAMASs

This chapter investigates a basic design problem of cooperative control for the MASs by utilizing a HOFAS predictive control approach. Firstly, a HOFAS model is adopted to describe the real dynamics of the i-th agent, which is called the i-th HOFA agent. Then, a HOFAS predictive control is presented to realize the cooperative control for the HOFAMASs, where an IHOFA prediction model via a type of Diophantine Equation is established to yield the multistep ahead predictions for minimizing an objective function considering the cooperative control performance, such that the optimal cooperative controller can be obtained. Further analysis proposes a sufficient condition to discuss the simultaneous consensus and stability of the closed-loop HOFAMASs. A formation control experiment of three ABSSs is provided to illustrate the effectiveness and availability.