Distributed Model-Free Sliding-Mode Predictive Control of Discrete-Time Second-Order Nonlinear Multiagent Systems With Delays
研究了带通信时延的离散时间二阶非线性多智能体系统的跟踪问题，提出了分布式无模型滑模控制算法和基于时延补偿的预测控制策略，仿真和实验验证了方法的优越性。
In this article, the tracking problem of networked discrete-time second-order nonlinear multiagent systems (MASs) is studied. First, for the MASs without communication delay, a novel method, called distributed model-free sliding-mode control algorithm is proposed, which can make the system converge quickly without the accurate model. Furthermore, for the MASs with delay, in order to eliminate the influence of time delay on the system, a distributed model-free sliding-mode predictive control strategy based on time-delay compensation technology is proposed, which can actively compensate for time delay while ensuring system stability and consensus tracking performance requirements. Both the simulation and experiment results reveal the superiority of the proposed methods.