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为解决通讯延时对编队控制造成的不利影响,研究网络化多智能体在通讯延时情形下的主从式预测编队控制问题,提出一种主从式预测编队控制架构.在该架构中,所有智能体都基于延时状态预测自身当前时刻状态,用于主动补偿反馈通道延时.主智能体将自身未来预测状态发送给各从智能体,从而主动补偿主从智能体间的通讯延时.仿真结果验证了所提出主从式预测编队控制架构的可行性和灵活性.
In order to solve the adverse effect of communication delays on formation control and to study the master-slave predictive formation control of networked multi-agent under communication delay, a master-slave predictive formation control structure is proposed.In this architecture, All agents predict their own current state based on the delay state and are used to actively compensate for the delay of the feedback channel.The master agent sends its own future predicted state to each slave agent so as to proactively compensate the communication delay between master and slave agents The simulation results verify the feasibility and flexibility of the master-slave predictive formation control structure.