Adaptive Discrete Sliding-mode Predictive Control of Networked Multi-agent Control System Based on the Incremental Model

Sliding mode predictive control (SMPC) is a control method that combines sliding mode control (SMC) and mode predictive control (MPC). It has broad application prospects in networked multi-agent control system (NMACS) due to its strong robustness, good response speed, and anti-interference ability. Discrete sliding mode variable structure control based on discrete systems has the advantages of SMPC, but due to the influence of discrete reaching law and sampling period of discrete systems, the system control often exhibits chattering. To overcome the chattering problem of SMPC, this paper designs an adaptive discrete sliding mode predictive control (ADSMPC) scheme based on incremental models, and by designing a leader-follower scheme achieved consistency control of multiple agents. The effectiveness of the control scheme is verified through multi-agents trajectory tracking experiments of a networked multi-lighting control system based on a dSPACE controller.