Cooperative Output Tracking Control of Heterogeneous Multi-Agent Systems With Random Communication Constraints: An Observer-Based Predictive Control Approach

The cooperative output tracking control problem of linear heterogeneous multi-agent systems with random communication constraints is investigated in this brief. An observer-based predictive control approach is proposed to actively compensate random communication constraints in the feedback channel of each agent and between agents. Moreover, the stability of closed-loop systems and output tracking performance are guaranteed. Finally, two simulation cases are carried out to verify the effectiveness of designed scheme.