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

IEEE Transactions on Cybernetics, Journal Year: 2024, Volume and Issue: 54(10), P. 5721 - 5732

Published: March 12, 2024

This research is intended to address a robust cooperative control problem of heterogeneous uncertain nonlinear high-order fully actuated multiagent systems (HUN-HOFAMASs). A HOFA system model used describe the (MASs) with dynamics, which called HUN-HOFAMASs. predictive terminal sliding-mode control-based scheme presented this problem. In scheme, dynamics original are offset establish linear constant help full actuation feature. Then, variable for enhancing robustness introduced handle uncertainties. Furthermore, incremental prediction developed in form by means Diophantine equation. According model, multistep predictions yielded optimize performance and compensate network-induced communication constraints feedback forward channels. Based on matrix inequality (LMI) method, necessary sufficient criterion derived discuss simultaneous consensus stability closed-loop The simulation comparison results flying around multiple spacecraft shown illustrate capability advantage control.

Language: Английский

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ISA Transactions, Journal Year: 2025, Volume and Issue: unknown

Published: Feb. 1, 2025

Language: Английский

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ISA Transactions, Journal Year: 2025, Volume and Issue: unknown

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Language: Английский