A Robust Cooperative Control Protocol Based on Global Sliding Mode Manifold for Heterogeneous Nonlinear Multi-Agent Systems Under the Switching Topology
Abstract
:1. Introduction
- (a).
- A GSMM for MASs is proposed, which remains unaffected by topology switching. The consensus performance under the sliding mode is determined by the design of the sliding mode manifold parameters. Moreover, order reduction is realized.
- (b).
- A completely distributed control protocol based on the GSMM is proposed. It features a sliding mode control format, a simple structure, and strong robustness. The control protocol and its parameters depend solely on information from neighboring agents.
- (c).
- The proposed cooperative control protocol is applied to WMRs.
2. Preliminary and Problem Formulation
2.1. Graph Theory
2.2. The Consensus Control Problem
3. The Global Sliding Mode Surface Design for the Multi-Agent System
4. The Sliding Mode Control Protocol Design
4.1. The Control Protocol Design
4.2. Reachability of the Sliding Mode
5. Application to Multiple WMRs
5.1. Coordinate Transformation
5.2. The Control Protocol Design
5.3. The Stability of the Sliding Mode
6. Simulation Tests
7. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
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Zhang, X.; Li, Y.; Xiong, S.; Liu, X.; Guo, R. A Robust Cooperative Control Protocol Based on Global Sliding Mode Manifold for Heterogeneous Nonlinear Multi-Agent Systems Under the Switching Topology. Actuators 2025, 14, 57. https://doi.org/10.3390/act14020057
Zhang X, Li Y, Xiong S, Liu X, Guo R. A Robust Cooperative Control Protocol Based on Global Sliding Mode Manifold for Heterogeneous Nonlinear Multi-Agent Systems Under the Switching Topology. Actuators. 2025; 14(2):57. https://doi.org/10.3390/act14020057
Chicago/Turabian StyleZhang, Xiaoyu, Yining Li, Shuiping Xiong, Xiangbin Liu, and Rong Guo. 2025. "A Robust Cooperative Control Protocol Based on Global Sliding Mode Manifold for Heterogeneous Nonlinear Multi-Agent Systems Under the Switching Topology" Actuators 14, no. 2: 57. https://doi.org/10.3390/act14020057
APA StyleZhang, X., Li, Y., Xiong, S., Liu, X., & Guo, R. (2025). A Robust Cooperative Control Protocol Based on Global Sliding Mode Manifold for Heterogeneous Nonlinear Multi-Agent Systems Under the Switching Topology. Actuators, 14(2), 57. https://doi.org/10.3390/act14020057