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Related Experiment Video

Updated: Jul 1, 2025

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Robust Cooperative Control for Heterogeneous Uncertain Nonlinear High-Order Fully Actuated Multiagent Systems.

Da-Wei Zhang, Guo-Ping Liu

    IEEE Transactions on Cybernetics
    |March 12, 2024
    PubMed
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    This study presents a robust cooperative control scheme for heterogeneous uncertain nonlinear high-order fully actuated multiagent systems (HUN-HOFAMASs). The predictive terminal sliding-mode control enhances system robustness and optimizes performance, ensuring consensus and stability.

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    Area of Science:

    • Control Systems Engineering
    • Robotics
    • Nonlinear Systems Theory

    Background:

    • Multiagent systems (MASs) with heterogeneous uncertain nonlinear dynamics present significant control challenges.
    • Existing methods struggle with robust cooperative control for high-order, fully actuated systems under uncertainty.

    Purpose of the Study:

    • To develop a robust cooperative control scheme for heterogeneous uncertain nonlinear high-order fully actuated multiagent systems (HUN-HOFAMASs).
    • To enhance system robustness and optimize cooperative control performance while addressing network-induced communication constraints.

    Main Methods:

    • A predictive terminal sliding-mode control strategy is employed.
    • Heterogeneous nonlinear dynamics are compensated to form a linear constant HOFA system.
    • A terminal sliding-mode variable is introduced to manage system uncertainties.
    • A linear incremental prediction model, using a Diophantine equation, generates multistep predictions.
    • Linear Matrix Inequality (LMI) methods are used to derive consensus and stability criteria.

    Main Results:

    • The proposed scheme effectively offsets heterogeneous nonlinear dynamics and handles uncertainties.
    • Multistep predictions optimize cooperative control and compensate for communication constraints.
    • A necessary and sufficient criterion for simultaneous consensus and stability is derived using LMI.
    • Simulations demonstrate the capability and advantages of the predictive terminal sliding-mode control.

    Conclusions:

    • The predictive terminal sliding-mode control scheme offers a robust solution for HUN-HOFAMASs.
    • The method ensures simultaneous consensus and stability in complex multiagent systems.
    • The approach is validated through simulations on a cooperative spacecraft formation flying scenario.