Predictive tracking control of network-based agents with communication delays

摘要

This paper investigates the remote tracking control problem of Network-based Agents with communication delays existing in both forward and feedback communication channels. A networked predictive tracking controller is proposed to compensate the negative effects caused by bilateral time-delays in a wireless network. Furthermore, the problem of consecutive data loss in the feedback channel is solved using aforementioned controller, where lateral movement perturbations are introduced. Simulations and experiments are provided for several cases, which verify the realizability and effectiveness of the proposed controller.