Constrained Cooperative Control for High-Order Fully Actuated Multiagent Systems With Application to Air-Bearing Spacecraft Simulators

This article is concerned with the constrained cooperative control for high-order fully actuated multiagent systems (HOFAMASs) subject to input saturation and prescribed performance. A predictive control scheme is given to achieve constrained cooperation among HOFAMASs. In this scheme, an incremental HOFA (IHOFA) prediction model is constructed by using a Diophantine equation to replace a reduced-order one. A cost function, investigating the cooperative performance and the constraints on input saturation and prescribed performance, is optimized by multistep output predictions so that the optimal constrained cooperative controllers are developed to satisfy the consensus requirement and given constraints. The further discussion gives a condition of stability and consensus, which is convenient to check and extend in practice. Simulated and experimental results of formation control for air-bearing spacecraft simulators are shown to illustrate the effectiveness of the provided scheme.