Observer-Based Predictive Cooperative Control for HOFAMASs with Time-Varying Communication Constraints

This chapter focuses on a cooperative control problem of the HOFAMASs with time-varying communication constraints (containing time-varying communication delays and time-varying packet dropouts) in the forward and feedback channels and immeasurable states. For this problem, an observer-based HOFAS (OB-HOFAS) predictive control is proposed to optimize the cooperative control performance and to actively compensate for time-varying communication constraints. In the proposed work, an observer-based IHOFAS prediction model can be developed by means of a kind of Diophantine Equation, which is exploited to generate the multistep ahead predictions for compensating for time-varying constraints and optimizing an objective function associated with the cooperative control performance. Further, a sufficient condition is derived to analyze the simultaneous consensus and stability of the closed-loop HOFAMASs under time-varying communication constraints and immeasurable states. Finally, a flying-around experiment of three ABSSs is provided to verify the feasibility and practicability.