Distributed sliding-mode cloud predictive formation control of networked multi-agent systems with application to air-bearing spacecraft simulators

This paper investigates the application of distributed sliding-mode cloud predictive control scheme in networked multi-agent control systems (NMACS). A sliding-mode cloud predictive control (SMCPC) scheme based on the cloud control system is designed. Combining the advantages of variable structure control (VSC) of sliding-mode control(SMC) and the advantages of cloud predictive control (CPC) in handling network delays, the network delay is actively compensated while ensuring the stability and output consistency of the NMACS. Also taking advantage of the small online computation of SMC, reduces the burden of CPC in processing big data and increases the computation rate. In addition, the scheme includes multi-step state prediction and output prediction as well as coordinated optimization among multiple agents. By optimizing the cost function design, the SMCPC scheme is guaranteed to achieve the desired control performance in multi-agent formation control. And the feasibility of the control scheme is verified by stability and consistency analysis. The applicability of the control scheme in practical applications is verified by air-bearing spacecraft simulator (ABS) formation control experiments.

Automated summary

This paper investigates the application of distributed sliding-mode cloud predictive control scheme in networked multi-agent control systems (NMACS). A sliding-mode cloud predictive control (SMCPC) scheme based on the cloud control system is designed. The scheme combines the advantages of variable structure control (VSC) of sliding-mode control (SMC) and the advantages of cloud predictive control (CPC) in handling network delays. The feasibility and applicability of the control scheme are verified through analysis and experiments.