Terminal Sliding-Mode Predictive Cooperative Control for HUN-HOFAMASs

This chapter is intended to a robust cooperative control problem of heterogeneous uncertain nonlinear HOFAMASs (HUN-HOFAMASs). A terminal sliding-mode HOFAS (TSM-HOFAS) predictive control is proposed to address this problem with the enhancement of robustness and the acceleration of convergence rate. In the proposed work, a terminal sliding-mode variable is adopted to deal with the heterogeneous uncertainties and accelerate the convergence rate, and an IHOFAS prediction model of terminal sliding-mode variable is established by utilizing a kind of Diophantine Equation. Based on this prediction model, the multistep ahead predictions of terminal sliding-mode variable are generated to minimize an objective function associated with robust cooperative control performance. Further analysis presents a sufficient condition to ensure the simultaneous consensus and stability of the closed-loop systems by means of Lyapunov stability theory and an LMI method. Finally, the effectiveness and availability of the proposed TSM-HOFAS predictive control can be illustrated via a flying-around experiment of three ABSSs.