Constrained Control of Networked High-Order Fully Actuated Systems via Predictive Control

This study is concerned with the output tracking of networked high-order fully actuated (NHOFA) systems subject to input saturation and prescribed performance. A predictive control based constrained control approach is presented to cope with this issue. In this approach, an incremental HOFA prediction model is constructed via a Diophantine Equation, and then a cost function, considering input saturation and prescribed performance, is optimized by multi -step output prediction, so that an optimal constrained tracking controller is established to satisfy the tracking requirement and given constraints. Further analysis presents a simple condition of bounded stability and tracking performance of closed-loop NHOFA systems, which offers a reliable foundation for constrained coordinated control of NHOFA multi agent systems. A numerical simulation of flying-around for air-bearing simulator is shown to prove the feasibility of the proposed approach.