Proportional-Integral Predictive Cooperative Control for HOFAMASs with Communication Delays

This chapter is concerned with a cooperative control problem of the HOFAMASs with communication delays in the forward and feedback channels. To deal with this problem, a HOFAS proportional-integral (HOFAS-PI) predictive control is presented for the optimization of cooperative control performance and the active compensation of communication delays. In the presented method, an IHOFAS prediction model with an integral variable is constructed with the help of a type of Diophantine Equation to obtain the multistep ahead predictions, such that the communication delays can be actively compensated and an objective function can be minimized to generate the optimal cooperative controller. Then, a sufficient condition can be proposed to discuss the simultaneous consensus and stability under communication delays of the closed-loop HOFAMASs. Finally, the presented HOFAS-PI predictive control gives a solution to the formation control of three ABSSs for verifying the feasibility and practicality.