The motion coordination formation control problem for a class of non-linear system is considered in this paper, where networked induced time-delays exist in the feedback channel of each agent and in communication channels between agents. As a foundation work, a coordination formation controller in discrete-time domain that without time-delay is provided firstly. Based on the above results, a motion coordination predictive formation control strategy as well as its detail implementation processes are proposed to actively compensate the time-delays. Stability analysis and simulation results are provided to demonstrate the feasibility and effectiveness of the proposed predictive strategy.

中文翻译：

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通过网络预测控制的一类多智能体的运动协调

考虑一类非线性系统的运动协调形成控制问题，其中在每个智能体的反馈通道和智能体之间的通信通道中都存在网络感应的时延。作为基础工作，首先提供了无时滞的离散时域协调形成控制器。基于以上结果，提出了一种运动协调预测编队控制策略及其详细实现过程，以主动补偿时延。稳定性分析和仿真结果提供了证明所提出的预测策略的可行性和有效性。