Event-Triggered Cooperative Predictive Control for Networked Multi-Agent Systems with Random Delays and Packet Dropouts

This paper addresses the cooperative output tracking control problem for a class of leader-following linear heterogeneous networked multi-agent systems subject to random network delays and packet dropouts in the feedback and forward channels of each agent. A state observer is established at the plant side of each agent, and an event-triggering transmission mechanism is introduced to decide which state estimate is transmitted to the corresponding controller so as to save the network resources of the feedback channel. To further compensate for the negative effects of those random communication constraints and the event trigger, a cooperative predictive control scheme with proportional and integral actions is proposed. Then, a necessary and sufficient condition is derived for the stability of the resulting closed-loop system. Finally, simulation results are given to show the effectiveness of the proposed scheme.