A Robust Cooperative Control Protocol Based on Global Sliding Mode Manifold for Heterogeneous Nonlinear Multi-Agent Systems Under the Switching Topology

Zhang, Xiaoyu; Li, Yining; Xiong, Shuiping; Liu, Xiangbin; Guo, Rong

doi:10.3390/act14020057

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A Robust Cooperative Control Protocol Based on Global Sliding Mode Manifold for Heterogeneous Nonlinear Multi-Agent Systems Under the Switching Topology

by

Xiaoyu Zhang

¹

,

Yining Li

¹,

Shuiping Xiong

^2,*

,

Xiangbin Liu

³ and

Rong Guo

¹

Beijing Key Laboratory of Robot Bionics and Function Research, Beijing University of Civil Engineering and Architecture, Beijing 100044, China

²

Key Laboratory of AI and Information Processing, Education Department of Guangxi Zhuang Autonomous Region, Hechi University, Hechi 546300, China

³

School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing 100044, China

^*

Author to whom correspondence should be addressed.

Actuators 2025, 14(2), 57; https://doi.org/10.3390/act14020057

Submission received: 21 November 2024 / Revised: 3 January 2025 / Accepted: 9 January 2025 / Published: 25 January 2025

(This article belongs to the Section Control Systems)

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Abstract

This study addresses the completely distributed consensus control problem for the heterogeneous nonlinear multi-agent system (MAS) with disturbances under switching topology. First, a global sliding mode manifold (GSMM) is designed for the overall MAS dynamic, which maintains stability without oscillations during topology switching after achieving the sliding mode. Subsequently, a consensus sliding mode control protocol (SMCP) is proposed, adopting the common sliding mode control (SMC) format and ensuring the finite-time reachability of the GSMM under topology switching. Finally, the proposed GSMM and SMCP are applied to the formation control of multiple-wheeled mobile robots (WMRs), and simulation results confirm their feasibility and effectiveness. The proposed SMCP design demonstrates key advantages, including a simple control structure, complete robustness to matched disturbance, and reduced-order dynamics under the sliding mode.

Keywords: multi-agent system; consensus; distributed; sliding mode control; wheeled mobile robot

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MDPI and ACS Style

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

AMA Style

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 Style

Zhang, 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 Style

Zhang, 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

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A Robust Cooperative Control Protocol Based on Global Sliding Mode Manifold for Heterogeneous Nonlinear Multi-Agent Systems Under the Switching Topology

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