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Despite the diverse potential applications of heterogeneous multi-agent systems (MASs), the practical MASs consisting of underactuated (UA) and overactuated (OA) objects have not been well investigated yet. In this paper, we develop a robust distributed control solution to address the attitude synchronization of such a system. The key of this solution is twofold: 1) The OA and UA systems are linearized based on the pseudo inverse and fully-actuated system approaches; 2) and a robust distributed synchronization controller is proposed by incorporating the uncertainty and disturbance estimator (UDE) for disturbance rejection.

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Robust Synchronization Control of Heterogeneous Systems with Underactuated and Overactuated Helicopters

  • 会议论文

  • 发表日期：

    2025年

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  • Shiyao Li,
  • Baoqing Yang,
  • Jie Ma,
  • Zixiao Yang,
  • Bo Zhu

摘要

Despite the diverse potential applications of heterogeneous multi-agent systems (MASs), the practical MASs consisting of underactuated (UA) and overactuated (OA) objects have not been well investigated yet. In this paper, we develop a robust distributed control solution to address the attitude synchronization of such a system. The key of this solution is twofold: 1) The OA and UA systems are linearized based on the pseudo inverse and fully-actuated system approaches; 2) and a robust distributed synchronization controller is proposed by incorporating the uncertainty and disturbance estimator (UDE) for disturbance rejection.