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Sliding mode approach for formation control of multi-agent systems with unknown nonlinear interactions
Hossein M H Abdoli1, Majdeddin Najafi2, Iman Izadi1
1Department of Electrical and Computer Engineering, Isfahan University of Technology, Isfahan 84156-83111, Iran.
ISA Transactions
|August 12, 2018
Summary
This study introduces novel nonlinear control methods for multi-agent systems, enabling robust leader-follower formations despite unknown interactions. The approach ensures stable group formation and accurate tracking for applications like drone transport.
Area of Science:
- Robotics
- Control Theory
- Systems Engineering
Background:
- Multi-agent systems (MAS) often face challenges with unknown nonlinear interactions between agents.
- Maintaining stable formations and accurate tracking is crucial for coordinated tasks.
Purpose of the Study:
- To develop robust nonlinear control strategies for leader-follower formations in MAS.
- To address unknown nonlinear interactions and control input uncertainties.
Main Methods:
- Proposed two distributed sliding mode control (SMC) approaches.
- Utilized the Super Twisting Algorithm for control.
- Modified Lyapunov functions to prove formation stability.
Main Results:
- Successfully demonstrated the ability to track a leader in a desired formation.
- Compensated for unknown nonlinear interaction terms and control uncertainties.
- Validated the approach through simulations of quad-rotor slung load transportation.
Conclusions:
- The proposed distributed sliding mode controllers effectively maintain group formation.
- The nonlinear control approaches are capable of handling unknown system dynamics.
- The methods show promise for complex coordinated tasks in multi-agent systems.
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