Cloud-based Distributed Predictive Consensus Control of Heterogeneous Multi-agent Systems with Random Communication Constraints

The distributed consensus control problem of multi-agent systems is investigated in this paper. A cloud-based distributed predictive consensus control scheme is proposed to actively compensate the random network delays and packet dropouts between the cloud and each agent, where each controller is designed in the cloud. Then, necessary and sufficient conditions simultaneously reaching stability and consensus of multi-agent systems are derived, which is independent of the random network delays and packet dropouts. Finally, simulation results are shown to verify the effectiveness of proposed scheme.